{"id":"https://openalex.org/W7123362398","doi":"https://doi.org/10.1109/lra.2026.3653315","title":"LIO-HKDT: Fast and Accurate LiDAR-Inertial Odometry With Hash K-D Tree","display_name":"LIO-HKDT: Fast and Accurate LiDAR-Inertial Odometry With Hash K-D Tree","publication_year":2026,"publication_date":"2026-01-12","ids":{"openalex":"https://openalex.org/W7123362398","doi":"https://doi.org/10.1109/lra.2026.3653315"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3653315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653315","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/A5122847870","display_name":"Yuexin Mu","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuexin Mu","raw_affiliation_strings":["Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0009-0002-0170-6526","affiliations":[{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051490998","display_name":"Ao Ren","orcid":"https://orcid.org/0000-0002-2322-8038"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ao Ren","raw_affiliation_strings":["Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-2322-8038","affiliations":[{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100675843","display_name":"Duo Liu","orcid":"https://orcid.org/0000-0002-3040-2065"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Duo Liu","raw_affiliation_strings":["Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-3040-2065","affiliations":[{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122843709","display_name":"Murong Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Murong Wang","raw_affiliation_strings":["Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zihao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihao Zhang","raw_affiliation_strings":["Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122879566","display_name":"Haojie Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haojie Lu","raw_affiliation_strings":["Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066818952","display_name":"Yujuan Tan","orcid":"https://orcid.org/0000-0002-9055-5389"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujuan Tan","raw_affiliation_strings":["Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-9055-5389","affiliations":[{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101516109","display_name":"Kan Zhong","orcid":"https://orcid.org/0000-0001-5278-0406"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kan Zhong","raw_affiliation_strings":["Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I158842170"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04795182,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"3","first_page":"2498","last_page":"2505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9916999936103821,"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":0.9916999936103821,"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":0.00139999995008111,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.0013000000035390258,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7139000296592712},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6679999828338623},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.6266999840736389},{"id":"https://openalex.org/keywords/hash-function","display_name":"Hash function","score":0.6262000203132629},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.5979999899864197},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5349000096321106},{"id":"https://openalex.org/keywords/k-d-tree","display_name":"k-d tree","score":0.5220000147819519},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.3953000009059906},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.3919999897480011}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7831000089645386},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7139000296592712},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6679999828338623},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.6266999840736389},{"id":"https://openalex.org/C99138194","wikidata":"https://www.wikidata.org/wiki/Q183427","display_name":"Hash function","level":2,"score":0.6262000203132629},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.5979999899864197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5874000191688538},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5349000096321106},{"id":"https://openalex.org/C33721204","wikidata":"https://www.wikidata.org/wiki/Q309949","display_name":"k-d tree","level":3,"score":0.5220000147819519},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.3953000009059906},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3919999897480011},{"id":"https://openalex.org/C27353603","wikidata":"https://www.wikidata.org/wiki/Q16948622","display_name":"Hash tree","level":4,"score":0.37070000171661377},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.36629998683929443},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36149999499320984},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.3467000126838684},{"id":"https://openalex.org/C67388219","wikidata":"https://www.wikidata.org/wiki/Q207440","display_name":"Hash table","level":3,"score":0.34150001406669617},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.3353999853134155},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3093999922275543},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.30869999527931213},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.30070000886917114},{"id":"https://openalex.org/C207024777","wikidata":"https://www.wikidata.org/wiki/Q621673","display_name":"Search tree","level":3,"score":0.2948000133037567},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.27649998664855957},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.258899986743927},{"id":"https://openalex.org/C163797641","wikidata":"https://www.wikidata.org/wiki/Q2067937","display_name":"Tree structure","level":3,"score":0.2574000060558319},{"id":"https://openalex.org/C162319229","wikidata":"https://www.wikidata.org/wiki/Q175263","display_name":"Data structure","level":2,"score":0.25369998812675476},{"id":"https://openalex.org/C62692426","wikidata":"https://www.wikidata.org/wiki/Q816319","display_name":"Depth-first search","level":3,"score":0.2533999979496002},{"id":"https://openalex.org/C135320971","wikidata":"https://www.wikidata.org/wiki/Q1868524","display_name":"Local search (optimization)","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3653315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653315","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":[{"id":"https://openalex.org/G1533560928","display_name":null,"funder_award_id":"2024CDJGF-003","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4535068284","display_name":null,"funder_award_id":"2024CDJGF-019","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5138442162","display_name":null,"funder_award_id":"62572085","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6249849825","display_name":null,"funder_award_id":"62402070","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2074954154","https://openalex.org/W2083624955","https://openalex.org/W2086504823","https://openalex.org/W2118269922","https://openalex.org/W2152864241","https://openalex.org/W2165558283","https://openalex.org/W2296228853","https://openalex.org/W2335829695","https://openalex.org/W2730541762","https://openalex.org/W2739434881","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2963439316","https://openalex.org/W2997027240","https://openalex.org/W3089503906","https://openalex.org/W3095662029","https://openalex.org/W3129245057","https://openalex.org/W3130321534","https://openalex.org/W3133648073","https://openalex.org/W4210423514","https://openalex.org/W4285512293","https://openalex.org/W4292544413","https://openalex.org/W4383109468","https://openalex.org/W4391676180","https://openalex.org/W4396598924","https://openalex.org/W4401413959","https://openalex.org/W4401415682"],"related_works":[],"abstract_inverted_index":{"LiDAR-inertial":[0,143],"odometry(LIO)":[1],"has":[2],"been":[3],"widely":[4],"applied":[5],"in":[6],"intelligent":[7],"robotics":[8],"and":[9,14,35,68,95,113,130,164],"autonomous":[10],"driving,":[11],"providing":[12],"high-precision":[13],"low-latency":[15],"ego-motion":[16],"estimation.":[17],"However,":[18],"the":[19,43,47,57,76,84,102,105,127,149,156],"massive":[20],"point":[21,96,120,161],"clouds":[22],"generated":[23],"by":[24],"LiDAR":[25],"introduce":[26],"intensive":[27],"data":[28,55],"processing":[29],"demands,":[30],"making":[31],"k-nearest":[32],"neighbor(KNN)":[33],"search":[34,78,86,94,128,163],"map":[36],"update":[37,115],"a":[38,53,109,142],"critical":[39],"bottleneck":[40],"that":[41,155],"limits":[42],"real-time":[44],"performance":[45,103],"of":[46,80,88,104],"LIO":[48,172],"system.":[49],"This":[50],"letter":[51],"proposes":[52],"novel":[54],"structure,":[56],"Hash":[58],"K-D":[59],"Tree(hkd-Tree),":[60],"which":[61],"uses":[62],"hashed":[63],"voxel":[64,110],"indices":[65],"as":[66,72],"keys":[67],"local":[69,133],"k-d":[70,89,134],"tree":[71,135],"values.":[73],"It":[74],"combines":[75],"localized":[77],"advantages":[79],"voxel-based":[81],"methods":[82],"with":[83],"efficient":[85,160],"capability":[87],"tree,":[90],"enabling":[91],"fast":[92],"KNN":[93],"cloud":[97,162],"insertion.":[98,165],"To":[99],"further":[100],"improve":[101],"hkd-Tree,":[106],"we":[107],"propose":[108],"distribution":[111],"mechanism":[112],"buffered":[114],"strategy,":[116],"where":[117],"each":[118],"new":[119],"is":[121],"assigned":[122],"to":[123,170],"neighboring":[124],"voxels":[125],"within":[126],"radius":[129],"inserted":[131],"into":[132],"via":[136],"parallel":[137],"batch":[138],"updates.":[139],"We":[140],"develop":[141],"odometry":[144],"system,":[145],"LIO-HKDT,":[146],"based":[147],"on":[148],"proposed":[150],"hkd-Tree.":[151],"Extensive":[152],"experiments":[153],"demonstrate":[154],"hkd-Tree":[157],"enables":[158],"highly":[159],"LIO-HKDT":[166],"achieves":[167],"comparable":[168],"accuracy":[169],"state-of-the-art":[171],"systems":[173],"while":[174],"significantly":[175],"improving":[176],"runtime":[177],"efficiency.":[178]},"counts_by_year":[],"updated_date":"2026-01-22T23:29:09.771500","created_date":"2026-01-14T00:00:00"}
