{"id":"https://openalex.org/W4416582673","doi":"https://doi.org/10.1109/lra.2025.3635943","title":"MLS-SLAM: Multi-Level Submap Guided LiDAR SLAM","display_name":"MLS-SLAM: Multi-Level Submap Guided LiDAR SLAM","publication_year":2025,"publication_date":"2025-11-24","ids":{"openalex":"https://openalex.org/W4416582673","doi":"https://doi.org/10.1109/lra.2025.3635943"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3635943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3635943","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":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019726670","display_name":"Fangfang Shang","orcid":"https://orcid.org/0009-0009-4980-3852"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fuqin Shang","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","Tsinghua Shenzhen International Graduate School, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0009-4980-3852","affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100952409","display_name":"Wenbing Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbing Yu","raw_affiliation_strings":["School of information and Control Engineering, Southwest University of Science and Technology, Mianyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of information and Control Engineering, Southwest University of Science and Technology, Mianyang, China","institution_ids":["https://openalex.org/I1297991670"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059898989","display_name":"Kangxu Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kangxu Wang","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Liubin Wang","orcid":"https://orcid.org/0009-0002-3873-5531"},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liubin Wang","raw_affiliation_strings":["School of information and Control Engineering, Southwest University of Science and Technology, Mianyang, China"],"raw_orcid":"https://orcid.org/0009-0002-3873-5531","affiliations":[{"raw_affiliation_string":"School of information and Control Engineering, Southwest University of Science and Technology, Mianyang, China","institution_ids":["https://openalex.org/I1297991670"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118686571","display_name":"Wei Liu","orcid":"https://orcid.org/0009-0001-6324-3830"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Liu","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","Tsinghua Shenzhen International Graduate School, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026184280","display_name":"Wenming Yang","orcid":"https://orcid.org/0000-0002-2506-1286"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenming Yang","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","Tsinghua Shenzhen International Graduate School, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-2506-1286","affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wang Lu","orcid":"https://orcid.org/0000-0003-0709-7661"},"institutions":[{"id":"https://openalex.org/I4210089192","display_name":"Chengdu Institute of Information Technology (China)","ror":"https://ror.org/00bwfrq04","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210089192"]},{"id":"https://openalex.org/I4210159425","display_name":"Chengdu Tool Research Institute (China)","ror":"https://ror.org/05prw4m25","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210159425"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Lu","raw_affiliation_strings":["Chengdu Tsingrong Technology Company, Ltd., Chengdu, China","Chengdu Tsingrong Technology Co., Ltd., Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-0709-7661","affiliations":[{"raw_affiliation_string":"Chengdu Tsingrong Technology Company, Ltd., Chengdu, China","institution_ids":["https://openalex.org/I4210159425"]},{"raw_affiliation_string":"Chengdu Tsingrong Technology Co., Ltd., Chengdu, China","institution_ids":["https://openalex.org/I4210089192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045183950","display_name":"Guijin Wang","orcid":"https://orcid.org/0000-0002-2131-3044"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guijin Wang","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2131-3044","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027015956","display_name":"Shuang Wang","orcid":"https://orcid.org/0000-0001-5935-9120"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Wang","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5935-9120","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5019726670"],"corresponding_institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43002308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"1058","last_page":"1065"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9901000261306763,"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":0.9901000261306763,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.002199999988079071,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.0013000000035390258,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8895000219345093},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5497000217437744},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.40450000762939453},{"id":"https://openalex.org/keywords/window","display_name":"Window (computing)","score":0.38370001316070557},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.3617999851703644},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.3603000044822693}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8895000219345093},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.6050000190734863},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5497000217437744},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5486999750137329},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46070000529289246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42590001225471497},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.40450000762939453},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.38370001316070557},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.3617999851703644},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3603000044822693},{"id":"https://openalex.org/C181672929","wikidata":"https://www.wikidata.org/wiki/Q4115141","display_name":"Digital mapping","level":2,"score":0.3467000126838684},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3294000029563904},{"id":"https://openalex.org/C3020199158","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"High resolution","level":2,"score":0.3050000071525574},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.28850001096725464},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3635943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3635943","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1957167950","https://openalex.org/W2021851106","https://openalex.org/W2036895101","https://openalex.org/W2150066425","https://openalex.org/W2174508997","https://openalex.org/W2296228853","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W3003991701","https://openalex.org/W3091486995","https://openalex.org/W3129245057","https://openalex.org/W3133648073","https://openalex.org/W3133767727","https://openalex.org/W3203066970","https://openalex.org/W3206395965","https://openalex.org/W3207826836","https://openalex.org/W3211389689","https://openalex.org/W4210423514","https://openalex.org/W4249866455","https://openalex.org/W4285269741","https://openalex.org/W4313259671","https://openalex.org/W4317796409","https://openalex.org/W4385486101","https://openalex.org/W4394820411"],"related_works":[],"abstract_inverted_index":{"LiDAR":[0,47,69,83,92],"Simultaneous":[1],"Localization":[2],"and":[3,17,29,60,63,77,108,139,155,165,176],"Mapping":[4],"(SLAM)":[5],"has":[6,149],"been":[7,150],"pivotal":[8],"in":[9],"various":[10],"domains,":[11],"including":[12],"digital":[13],"twins,":[14],"geographic":[15],"surveying,":[16],"autonomous":[18],"mobile":[19],"robotics.":[20],"However,":[21],"achieving":[22],"an":[23,87],"optimal":[24],"balance":[25],"between":[26,136],"high":[27],"precision":[28,164],"computational":[30],"efficiency":[31],"remains":[32],"a":[33,42,105],"significant":[34],"challenge.":[35],"In":[36],"this":[37],"paper,":[38],"we":[39],"propose":[40],"MLS-SLAM,":[41],"multi-level":[43],"submap":[44],"guided":[45],"3D":[46],"SLAM":[48],"method":[49],"that":[50,160],"incorporates":[51],"three":[52],"levels":[53],"of":[54,65,147],"submaps":[55,120,123,138],"(local-frame":[56],"submap,":[57,59],"rotation-aware":[58,122,137],"loop-optimized":[61],"submap)":[62],"consists":[64],"four":[66],"key":[67],"modules:":[68],"Odometry,":[70],"Local":[71,96],"Frame":[72,97],"Integration,":[73,76],"Rotation-Aware":[74,114],"Submap":[75,79,115,131],"Loop-Optimized":[78,130],"Integration.":[80],"Firstly,":[81],"the":[82,95,113,126,129],"Odometry":[84],"module":[85,99,117,133],"provides":[86],"initial":[88],"pose":[89,142],"for":[90],"each":[91],"scan.":[93],"Subsequently,":[94],"Integration":[98,116,132],"performs":[100,140],"continuous":[101],"local":[102],"refinement":[103],"with":[104,173],"sliding":[106],"window":[107],"constructs":[109],"local-frame":[110,119],"submaps.":[111],"Then,":[112],"aggregates":[118],"into":[121],"based":[124],"on":[125,153,171],"trajectory.":[127],"Finally,":[128],"finds":[134],"loops":[135],"global":[141],"graph":[143],"optimization.":[144],"The":[145],"performance":[146,167],"MLS-SLAM":[148,161],"rigorously":[151],"evaluated":[152],"public":[154],"self-collected":[156],"datasets.":[157],"Experiments":[158],"show":[159],"achieves":[162],"state-of-the-art":[163],"real-time":[166],"at":[168],"10":[169],"Hz":[170],"datasets":[172],"diverse":[174],"scales":[175],"environments.":[177]},"counts_by_year":[],"updated_date":"2025-12-11T23:09:37.256380","created_date":"2025-11-25T00:00:00"}