{"id":"https://openalex.org/W4417251979","doi":"https://doi.org/10.1109/lra.2025.3643289","title":"ColorMap-VIO: A Drift-Free Visual-Inertial Odometry in a Prior Colored Point Cloud Map","display_name":"ColorMap-VIO: A Drift-Free Visual-Inertial Odometry in a Prior Colored Point Cloud Map","publication_year":2025,"publication_date":"2025-12-11","ids":{"openalex":"https://openalex.org/W4417251979","doi":"https://doi.org/10.1109/lra.2025.3643289"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3643289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643289","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":null,"display_name":"Jie Xu","orcid":"https://orcid.org/0000-0002-6846-6734"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jie Xu","raw_affiliation_strings":["Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-6846-6734","affiliations":[{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xuanxuan Zhang","orcid":"https://orcid.org/0009-0007-1209-5712"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanxuan Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0007-1209-5712","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yongxin Ma","orcid":"https://orcid.org/0009-0003-8128-418X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yongxin Ma","raw_affiliation_strings":["Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0009-0003-8128-418X","affiliations":[{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100443481","display_name":"Yixuan Li","orcid":"https://orcid.org/0000-0003-4040-4336"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yixuan Li","raw_affiliation_strings":["Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030960095","display_name":"Linji Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Linji Wang","raw_affiliation_strings":["Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0009-0002-2255-3434","affiliations":[{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xinhang Xu","orcid":"https://orcid.org/0009-0000-2957-7389"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xinhang Xu","raw_affiliation_strings":["Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0009-0000-2957-7389","affiliations":[{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026848789","display_name":"Shenghai Yuan","orcid":"https://orcid.org/0009-0003-1887-6342"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shenghai Yuan","raw_affiliation_strings":["Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0009-0003-1887-6342","affiliations":[{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7137-4136","affiliations":[{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4561297,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"1570","last_page":"1577"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9858999848365784,"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":0.9858999848365784,"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":0.003100000089034438,"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":0.00139999995008111,"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/point-cloud","display_name":"Point cloud","score":0.6966000199317932},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6908000111579895},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6764000058174133},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.5289999842643738},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.49459999799728394},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.48089998960494995},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.3880000114440918},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.37439998984336853},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.37220001220703125}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7670000195503235},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.745199978351593},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6966000199317932},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6908000111579895},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6764000058174133},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6377999782562256},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.5289999842643738},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.49459999799728394},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.48089998960494995},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.3880000114440918},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.37439998984336853},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.37220001220703125},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.3675999939441681},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.35989999771118164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34459999203681946},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.32260000705718994},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.3215999901294708},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.3098999857902527},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.3068999946117401},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.29319998621940613},{"id":"https://openalex.org/C2778307483","wikidata":"https://www.wikidata.org/wiki/Q5149038","display_name":"Colored","level":2,"score":0.2849999964237213},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.2815000116825104},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.27129998803138733},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.2612999975681305},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3643289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643289","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":[{"id":"https://openalex.org/F4320320709","display_name":"National Research Foundation Singapore","ror":"https://ror.org/03cpyc314"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2022398331","https://openalex.org/W2054969198","https://openalex.org/W2056358962","https://openalex.org/W2118223742","https://openalex.org/W2274359774","https://openalex.org/W2474281075","https://openalex.org/W2482726005","https://openalex.org/W2567328166","https://openalex.org/W2745859992","https://openalex.org/W2923015859","https://openalex.org/W2977977449","https://openalex.org/W3043971245","https://openalex.org/W3091332390","https://openalex.org/W3091667825","https://openalex.org/W3128391467","https://openalex.org/W3130129454","https://openalex.org/W3136363056","https://openalex.org/W3199184510","https://openalex.org/W3206569427","https://openalex.org/W3211006023","https://openalex.org/W4225835048","https://openalex.org/W4230766380","https://openalex.org/W4402808185"],"related_works":[],"abstract_inverted_index":{"Visual-inertial":[0],"odometry":[1],"(VIO)":[2],"can":[3],"estimate":[4,119],"robot":[5],"poses":[6],"at":[7],"high":[8,52],"frequencies":[9],"but":[10],"suffers":[11],"from":[12],"accumulated":[13],"drift":[14],"over":[15],"time.":[16],"Incorporating":[17],"point":[18,32,69],"cloud":[19,70],"maps":[20],"offers":[21],"a":[22,62],"promising":[23],"solution,":[24],"yet":[25],"existing":[26,166],"registration":[27],"methods":[28],"between":[29],"vision":[30],"and":[31,44,51,80,100,115,141,152,159,163],"clouds":[33],"are":[34,125],"limited":[35],"by":[36,156],"heterogeneous":[37],"feature":[38,123],"alignment,":[39],"leaving":[40],"much":[41],"information":[42],"underutilized":[43],"resulting":[45],"in":[46],"reduced":[47],"accuracy,":[48],"poor":[49],"robustness,":[50],"computational":[53],"cost.":[54],"To":[55],"address":[56],"these":[57],"challenges,":[58],"this":[59],"paper":[60],"proposes":[61],"visual-inertial":[63,81],"localization":[64,154],"system":[65],"based":[66],"on":[67],"color":[68,77],"maps,":[71],"consisting":[72],"of":[73],"two":[74],"main":[75],"components:":[76],"map":[78,85,91,157],"construction":[79,92],"tracking.":[82],"A":[83],"gradient-based":[84],"sparsification":[86],"strategy":[87],"is":[88],"employed":[89],"during":[90],"to":[93,118,133],"preserve":[94],"salient":[95],"features":[96],"while":[97],"reducing":[98],"storage":[99],"computation.":[101],"For":[102],"localization,":[103],"we":[104],"propose":[105],"an":[106],"image":[107,128],"pyramid-based":[108],"visual":[109],"photometric":[110,116],"IESKF,":[111],"which":[112],"fuses":[113],"IMU":[114],"observations":[117],"precise":[120],"poses.":[121],"Gradient-rich":[122],"points":[124],"projected":[126],"onto":[127],"pyramids":[129],"across":[130],"multiple":[131],"resolutions":[132],"perform":[134],"iterative":[135],"updates,":[136],"effectively":[137],"avoiding":[138],"local":[139],"minima":[140],"improving":[142],"accuracy.":[143],"Experimental":[144],"results":[145],"show":[146],"that":[147],"our":[148],"method":[149],"achieves":[150],"stable":[151],"accurate":[153],"bounded":[155],"precision,":[158],"demonstrates":[160],"higher":[161],"efficiency":[162],"robustness":[164],"than":[165],"map-based":[167],"approaches.":[168]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-12-11T00:00:00"}
