{"id":"https://openalex.org/W4416381260","doi":"https://doi.org/10.1109/lra.2025.3632615","title":"D-LIO: 6DoF Direct LiDAR-Inertial Odometry Based on Simultaneous Truncated Distance Field Mapping","display_name":"D-LIO: 6DoF Direct LiDAR-Inertial Odometry Based on Simultaneous Truncated Distance Field Mapping","publication_year":2025,"publication_date":"2025-11-14","ids":{"openalex":"https://openalex.org/W4416381260","doi":"https://doi.org/10.1109/lra.2025.3632615"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3632615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632615","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2505.16726","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5095762147","display_name":"Luc\u00eda Coto-Elena","orcid":"https://orcid.org/0009-0008-2121-4100"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"L. Coto-Elena","raw_affiliation_strings":["Service Robotics Laboratory, Universidad Pablo de Olavide, Seville, Spain"],"raw_orcid":"https://orcid.org/0009-0008-2121-4100","affiliations":[{"raw_affiliation_string":"Service Robotics Laboratory, Universidad Pablo de Olavide, Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115539616","display_name":"Jose Enrique Maese","orcid":"https://orcid.org/0009-0009-6666-7178"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.E. Maese","raw_affiliation_strings":["Service Robotics Laboratory, Universidad Pablo de Olavide, Seville, Spain"],"raw_orcid":"https://orcid.org/0009-0009-6666-7178","affiliations":[{"raw_affiliation_string":"Service Robotics Laboratory, Universidad Pablo de Olavide, Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042031541","display_name":"Lu\u00eds Merino","orcid":"https://orcid.org/0000-0003-4927-8647"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"L. Merino","raw_affiliation_strings":["Service Robotics Laboratory, Universidad Pablo de Olavide, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0003-4927-8647","affiliations":[{"raw_affiliation_string":"Service Robotics Laboratory, Universidad Pablo de Olavide, Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040477311","display_name":"Fernando Caballero","orcid":"https://orcid.org/0000-0001-8869-2846"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"F. Caballero","raw_affiliation_strings":["Service Robotics Laboratory, Universidad Pablo de Olavide, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0001-8869-2846","affiliations":[{"raw_affiliation_string":"Service Robotics Laboratory, Universidad Pablo de Olavide, Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5095762147"],"corresponding_institution_ids":["https://openalex.org/I95013407"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41686101,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"1","first_page":"169","last_page":"176"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.002899999963119626,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.0012000000569969416,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8241999745368958},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6908000111579895},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5619000196456909},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5375000238418579},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5123999714851379},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.42089998722076416},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4140999913215637},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.40059998631477356},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3856000006198883}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8241999745368958},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7409999966621399},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6908000111579895},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6500999927520752},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6392999887466431},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5619000196456909},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5375000238418579},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5123999714851379},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.42089998722076416},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4140999913215637},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.40059998631477356},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3856000006198883},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.3711000084877014},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.36970001459121704},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3668000102043152},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36000001430511475},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.3273000121116638},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.3237999975681305},{"id":"https://openalex.org/C73621898","wikidata":"https://www.wikidata.org/wiki/Q2940504","display_name":"Distance transform","level":3,"score":0.302700012922287},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27379998564720154},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.26660001277923584},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26600000262260437},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.25119999051094055},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3632615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632615","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2505.16726","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2505.16726","pdf_url":"https://arxiv.org/pdf/2505.16726","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2505.16726","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2505.16726","pdf_url":"https://arxiv.org/pdf/2505.16726","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315062","display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","ror":null},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4416381260.pdf","grobid_xml":"https://content.openalex.org/works/W4416381260.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,73,98],"new":[4],"approach":[5,138],"for":[6,180],"6DoF":[7],"Direct":[8],"LiDAR-Inertial":[9],"Odometry":[10],"(D-LIO)":[11],"based":[12,62],"on":[13,21,63],"the":[14,27,30,41,50,64,78,85,93,103,110,123,157,165,174],"simultaneous":[15],"mapping":[16],"of":[17,29,43,105,122,134,162,168,173],"truncated":[18,118],"distance":[19,119],"fields":[20],"CPU.":[22],"Such":[23,88],"continuous":[24],"representation":[25,89,172],"(in":[26],"vicinity":[28],"points)":[31],"enables":[32,90],"working":[33],"with":[34,164],"raw":[35],"3D":[36],"LiDAR":[37,44,94,107],"data":[38],"online,":[39],"avoiding":[40],"need":[42,104],"feature":[45],"selection":[46],"and":[47,53,125,145],"tracking,":[48],"simplifying":[49],"odometry":[51,154],"pipeline":[52],"easily":[54],"generalizing":[55],"to":[56,76],"many":[57],"scenarios.":[58],"The":[59,137,189],"method":[60,71],"is":[61,139,148,192],"proposed":[65],"Fast":[66],"Truncated":[67],"Distance":[68],"Field":[69],"(Fast-TDF)":[70],"as":[72,97,184],"convenient":[74],"tool":[75],"represent":[77],"environment,":[79,124,175],"employing":[80],"binary":[81],"masks":[82],"that":[83,176],"encodes":[84],"L1":[86],"distance.":[87],"i)":[91],"solving":[92],"point-cloud":[95],"registration":[96],"nonlinear":[99],"optimization":[100],"process":[101],"without":[102],"selecting/tracking":[106],"features":[108],"in":[109],"input":[111],"data,":[112],"ii)":[113],"simultaneously":[114],"producing":[115],"an":[116,169],"accurate":[117],"field":[120],"map":[121,129],"iii)":[126],"updating":[127],"such":[128],"at":[130,195],"constant":[131],"time":[132],"independently":[133],"its":[135],"size.":[136],"tested":[140],"using":[141],"open":[142],"datasets,":[143],"aerial":[144],"ground.":[146],"It":[147],"also":[149],"benchmarked":[150],"against":[151],"other":[152,181],"state-of-the-art":[153],"approaches,":[155],"demonstrating":[156],"same":[158],"or":[159,186],"better":[160],"level":[161],"accuracy":[163],"added":[166],"value":[167],"online-generated":[170],"TDF":[171],"can":[177],"be":[178],"used":[179],"robotics":[182],"tasks":[183],"planning":[185],"collision":[187],"avoidance.":[188],"source":[190],"code":[191],"publicly":[193],"available":[194],"<uri":[196],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[197],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/robotics-upo/D-LIO.git</uri>":[198]},"counts_by_year":[],"updated_date":"2026-05-29T09:21:14.243279","created_date":"2025-11-14T00:00:00"}
