{"id":"https://openalex.org/W4416366541","doi":"https://doi.org/10.1109/mce.2025.3633867","title":"Map-Free Construction Robot Localization via BIM Point Clouds and improved 3D-NDT","display_name":"Map-Free Construction Robot Localization via BIM Point Clouds and improved 3D-NDT","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416366541","doi":"https://doi.org/10.1109/mce.2025.3633867"},"language":null,"primary_location":{"id":"doi:10.1109/mce.2025.3633867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mce.2025.3633867","pdf_url":null,"source":{"id":"https://openalex.org/S2483040032","display_name":"IEEE Consumer Electronics Magazine","issn_l":"2162-2248","issn":["2162-2248","2162-2256"],"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 Consumer Electronics Magazine","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/A5054510205","display_name":"Lingdong Zeng","orcid":"https://orcid.org/0000-0001-6314-0535"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lingdong Zeng","raw_affiliation_strings":["Shanghai University, China"],"affiliations":[{"raw_affiliation_string":"Shanghai University, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113158683","display_name":"Siwei Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siwei Cheng","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071393587","display_name":"Shuai Guo","orcid":"https://orcid.org/0000-0001-7279-2412"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Guo","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087225784","display_name":"Honghao Gao","orcid":"https://orcid.org/0000-0001-6861-9684"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Honghao Gao","raw_affiliation_strings":["School of Computer Engineering and Science, Shanghai University, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Engineering and Science, Shanghai University, China","institution_ids":["https://openalex.org/I141962983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5054510205"],"corresponding_institution_ids":["https://openalex.org/I113940042"],"apc_list":null,"apc_paid":null,"fwci":5.0605,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.96030772,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.3840999901294708,"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":0.3840999901294708,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.19670000672340393,"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"}},{"id":"https://openalex.org/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.18070000410079956,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7361000180244446},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6211000084877014},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5853999853134155},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5278000235557556},{"id":"https://openalex.org/keywords/upsampling","display_name":"Upsampling","score":0.4887000024318695},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48010000586509705},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.45730000734329224},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.45249998569488525},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4284000098705292}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7426999807357788},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7361000180244446},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6211000084877014},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5853999853134155},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5450000166893005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5278000235557556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5098999738693237},{"id":"https://openalex.org/C110384440","wikidata":"https://www.wikidata.org/wiki/Q1143270","display_name":"Upsampling","level":3,"score":0.4887000024318695},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48730000853538513},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48010000586509705},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.45730000734329224},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.45249998569488525},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4284000098705292},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.39250001311302185},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.3725000023841858},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.3628000020980835},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3531000018119812},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.2978000044822693},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.29660001397132874},{"id":"https://openalex.org/C66862320","wikidata":"https://www.wikidata.org/wiki/Q842017","display_name":"Building information modeling","level":3,"score":0.296099990606308},{"id":"https://openalex.org/C124851039","wikidata":"https://www.wikidata.org/wiki/Q2665459","display_name":"Compressed sensing","level":2,"score":0.2953999936580658},{"id":"https://openalex.org/C83931994","wikidata":"https://www.wikidata.org/wiki/Q1149653","display_name":"Building automation","level":2,"score":0.29109999537467957},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.28459998965263367},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.28380000591278076},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2736999988555908},{"id":"https://openalex.org/C138331895","wikidata":"https://www.wikidata.org/wiki/Q11650","display_name":"Electronics","level":2,"score":0.2727999985218048},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2615000009536743},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.25519999861717224},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mce.2025.3633867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mce.2025.3633867","pdf_url":null,"source":{"id":"https://openalex.org/S2483040032","display_name":"IEEE Consumer Electronics Magazine","issn_l":"2162-2248","issn":["2162-2248","2162-2256"],"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 Consumer Electronics Magazine","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"localization":[1,54,197],"is":[2],"vital":[3],"for":[4,121,156,199],"mobile":[5,142],"construction":[6,201],"robots":[7],"operating":[8],"in":[9,43,131,150],"indoor":[10],"environments,":[11],"especially":[12],"within":[13,186],"the":[14,103,108,113,119,161],"Internet":[15],"of":[16],"Consumer":[17],"Electronics":[18],"(ICE),":[19],"where":[20],"devices":[21],"demand":[22],"lightweight":[23],"computation":[24],"and":[25,35,84,154,166,171,179,195,202],"high":[26,36],"reliability.":[27],"Traditional":[28],"SLAM-based":[29],"methods":[30],"require":[31],"continuous":[32,122],"map":[33,78,110,123],"updates":[34],"computational":[37],"power,":[38],"which":[39],"limits":[40],"their":[41],"deployment":[42],"consumer-grade":[44],"or":[45],"embedded":[46],"robotic":[47,204],"systems.":[48,205],"This":[49,117],"study":[50],"proposes":[51],"a":[52,74,132,141,145,192],"map-free":[53],"framework":[55],"that":[56,160],"integrates":[57],"Building":[58],"Information":[59],"Modeling":[60],"(BIM)":[61],"with":[62,96,107,144],"an":[63,97],"improved":[64,93],"3D":[65],"Normal":[66],"Distributions":[67],"Transform":[68],"(NDT)":[69],"algorithm.":[70],"The":[71,188],"method":[72,163,190],"generates":[73],"static":[75],"point":[76,105],"cloud":[77,106],"using":[79,140],"geometric":[80],"priors":[81],"from":[82,182],"BIM":[83],"applies":[85],"feature-preserving":[86],"downsampling":[87],"to":[88,111,175],"real-time":[89],"LiDAR":[90,147,183],"data.":[91],"An":[92],"NDT,":[94],"integrated":[95],"adaptive":[98],"optimization":[99],"strategy,":[100],"efficiently":[101],"aligns":[102],"live":[104],"BIM-derived":[109],"estimate":[112],"robot\u2019s":[114],"pose":[115],"directly.":[116],"eliminates":[118],"need":[120],"updates,":[124],"reducing":[125],"system":[126],"complexity.":[127],"A":[128],"dataset":[129],"collected":[130],"60":[133],"m":[134,137],"\u00d7":[135],"20":[136],"campus":[138],"building":[139],"robot":[143],"HDL-32E":[146],"was":[148],"recorded":[149],"ROS":[151],"bag":[152],"format":[153],"used":[155],"evaluation.":[157],"Results":[158],"show":[159],"proposed":[162,189],"reduces":[164],"translational":[165],"rotational":[167],"errors":[168],"by":[169],"21.2%":[170],"36.4%,":[172],"respectively,":[173],"compared":[174],"traditional":[176],"SLAM":[177],"algorithms,":[178],"successfully":[180],"recovers":[181],"signal":[184],"loss":[185],"5s.":[187],"provides":[191],"lightweight,":[193],"infrastructure-free,":[194],"consumer-technology-ready":[196],"solution":[198],"smart":[200],"ICE-enabled":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-11T08:14:18.477133","created_date":"2025-11-19T00:00:00"}