{"id":"https://openalex.org/W4411232551","doi":"https://doi.org/10.1109/plans61210.2025.11028219","title":"A coarse-to-fine optimization framework for LiDAR-based air-ground cooperative mapping","display_name":"A coarse-to-fine optimization framework for LiDAR-based air-ground cooperative mapping","publication_year":2025,"publication_date":"2025-04-28","ids":{"openalex":"https://openalex.org/W4411232551","doi":"https://doi.org/10.1109/plans61210.2025.11028219"},"language":"en","primary_location":{"id":"doi:10.1109/plans61210.2025.11028219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/plans61210.2025.11028219","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)","raw_type":"proceedings-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/A5032424416","display_name":"Mengchi Ai","orcid":"https://orcid.org/0000-0001-5300-4409"},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mengchi Ai","raw_affiliation_strings":["University of Calgary,Department of Geomatics Engineering,Calgary,Canada"],"affiliations":[{"raw_affiliation_string":"University of Calgary,Department of Geomatics Engineering,Calgary,Canada","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014571148","display_name":"Mohamed Elhabiby","orcid":"https://orcid.org/0000-0002-1909-7506"},"institutions":[{"id":"https://openalex.org/I14477843","display_name":"Microsemi (Canada)","ror":"https://ror.org/038xm7148","country_code":"CA","type":"company","lineage":["https://openalex.org/I14477843","https://openalex.org/I4210110187"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mohamed Elhabiby","raw_affiliation_strings":["Micro Engineering Tech Inc.,Calgary,Canada"],"affiliations":[{"raw_affiliation_string":"Micro Engineering Tech Inc.,Calgary,Canada","institution_ids":["https://openalex.org/I14477843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101202564","display_name":"Yandi Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yandi Yang","raw_affiliation_strings":["University of Calgary,Department of Geomatics Engineering,Calgary,Canada"],"affiliations":[{"raw_affiliation_string":"University of Calgary,Department of Geomatics Engineering,Calgary,Canada","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042454030","display_name":"Naser El\u2010Sheimy","orcid":"https://orcid.org/0000-0001-6505-0832"},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Naser El-Sheimy","raw_affiliation_strings":["University of Calgary,Department of Geomatics Engineering,Calgary,Canada"],"affiliations":[{"raw_affiliation_string":"University of Calgary,Department of Geomatics Engineering,Calgary,Canada","institution_ids":["https://openalex.org/I168635309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032424416"],"corresponding_institution_ids":["https://openalex.org/I168635309"],"apc_list":null,"apc_paid":null,"fwci":3.4363,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.92350185,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"636","last_page":"642"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9969000220298767,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8531924486160278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5878314971923828},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.529775857925415},{"id":"https://openalex.org/keywords/atmospheric-model","display_name":"Atmospheric model","score":0.446724534034729},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.4043234586715698},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.3254462480545044},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.25381240248680115},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10607346892356873}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8531924486160278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5878314971923828},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.529775857925415},{"id":"https://openalex.org/C118365302","wikidata":"https://www.wikidata.org/wiki/Q4817115","display_name":"Atmospheric model","level":2,"score":0.446724534034729},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.4043234586715698},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.3254462480545044},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.25381240248680115},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10607346892356873}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/plans61210.2025.11028219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/plans61210.2025.11028219","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320994","display_name":"Canada Research Chairs","ror":"https://ror.org/0517h6h17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2153054365","https://openalex.org/W2296228853","https://openalex.org/W2893149982","https://openalex.org/W2926107720","https://openalex.org/W2991107254","https://openalex.org/W2999936106","https://openalex.org/W3102624293","https://openalex.org/W3129245057","https://openalex.org/W4306922923","https://openalex.org/W4313639518","https://openalex.org/W4391171446","https://openalex.org/W4396764478","https://openalex.org/W4399801032","https://openalex.org/W4400905299","https://openalex.org/W7008613418"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4319317934","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W4200592460","https://openalex.org/W238624893"],"abstract_inverted_index":{"Geo-referenced":[0],"point":[1,28,77,104,147,193],"cloud":[2,29,78,105],"maps":[3,30,79],"provide":[4,108],"detailed":[5,115],"3D":[6,88,211],"geometric":[7],"features":[8],"essential":[9],"for":[10,55,153,210],"a":[11,32,85,130,204],"wide":[12],"range":[13],"of":[14,123,135],"digital":[15],"applications,":[16],"including":[17],"smart":[18],"city":[19],"development":[20],"and":[21,25,49,64,69,97,120,149,156,196,207],"automation.":[22],"Generating":[23],"high-accuracy":[24],"high":[26,43],"density":[27],"is":[31],"critical":[33],"task":[34],"in":[35,80,192],"these":[36,73],"domains.":[37],"While":[38],"stationary":[39],"scanning":[40],"method":[41],"offer":[42],"precise":[44],"measurements,":[45],"their":[46],"low":[47],"efficiency":[48],"limited":[50],"coverage":[51],"make":[52],"them":[53],"impractical":[54],"large-scale":[56,109],"mapping.":[57],"Mobile":[58],"mapping":[59,65,89,141,173,195,212],"technologies,":[60],"leveraging":[61,168],"simultaneous":[62],"localization":[63],"(SLAM),":[66],"sensor":[67],"fusion,":[68],"pose":[70],"estimation,":[71],"address":[72],"challenges":[74],"by":[75,167],"generating":[76],"motion.":[81],"This":[82,199],"paper":[83],"proposes":[84],"cooperative":[86,201],"air-ground":[87,200],"framework":[90,128],"that":[91],"integrates":[92],"unmanned":[93,98],"aerial":[94,110],"vehicles":[95,100],"(UAVs)":[96],"ground":[99],"(UGVs)":[101],"to":[102],"produce":[103],"maps.":[106],"UAVs":[107,155],"coverage,":[111],"while":[112],"UGVs":[113],"deliver":[114],"ground-level":[116],"mapping,":[117],"ensuring":[118],"comprehensive":[119],"accurate":[121,208],"representation":[122],"the":[124,165,177],"environment.":[125],"The":[126,187],"proposed":[127],"follows":[129],"coarse-to-fine":[131],"optimization":[132,160],"strategy":[133],"consisting":[134],"two":[136],"main":[137],"stages:":[138],"(1)":[139],"Coarse":[140],"\u2013":[142,161],"SLAM":[143],"algorithms":[144],"generate":[145],"initial":[146],"clouds":[148,194],"estimate":[150],"geo-referenced":[151],"poses":[152,166],"both":[154],"UGVs.":[157],"(2)":[158],"Mapping":[159],"Graph-based":[162],"post-processing":[163],"refines":[164],"overlapping":[169],"constraints,":[170],"further":[171],"improving":[172],"accuracy.":[174,198],"To":[175],"validate":[176],"framework,":[178],"experiments":[179],"were":[180],"conducted":[181],"using":[182],"an":[183],"open-source":[184],"UAV-UGV":[185],"dataset.":[186],"results":[188],"demonstrate":[189],"significant":[190],"improvements":[191],"trajectory":[197],"approach":[202],"represents":[203],"scalable,":[205],"robust,":[206],"solution":[209],"applications.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
