{"id":"https://openalex.org/W2921847244","doi":"https://doi.org/10.1109/robio.2018.8665103","title":"Lidar-IMU Fusion for 2.5D Mapping","display_name":"Lidar-IMU Fusion for 2.5D Mapping","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2921847244","doi":"https://doi.org/10.1109/robio.2018.8665103","mag":"2921847244"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8665103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665103","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5011835422","display_name":"Yutong Xie","orcid":"https://orcid.org/0000-0002-6644-1250"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yutong Xie","raw_affiliation_strings":["The Chinese University of Hong Kong, Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100353611","display_name":"Hao Chen","orcid":"https://orcid.org/0000-0002-9709-3260"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Chen","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039012844","display_name":"Wanzhi Zhang","orcid":"https://orcid.org/0000-0002-4037-1741"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanzhi Zhang","raw_affiliation_strings":["The Chinese University of Hong Kong, Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101427561","display_name":"Shuaijun Li","orcid":"https://orcid.org/0000-0002-6848-0798"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shuaijun Li","raw_affiliation_strings":["The Chinese University of Hong Kong, HongKong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, HongKong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044361827","display_name":"Huihuan Qian","orcid":"https://orcid.org/0000-0001-8269-0882"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huihuan Qian","raw_affiliation_strings":["The Chinese University of Hong Kong, Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.18033,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"832","last_page":"837"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9977999925613403,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.9272971153259277},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8669472336769104},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.7662712335586548},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.7364180088043213},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.686143159866333},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6447975635528564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5637764930725098},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5033556818962097},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.476980060338974},{"id":"https://openalex.org/keywords/mobile-mapping","display_name":"Mobile mapping","score":0.4469614326953888},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.34898698329925537},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20184221863746643},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.19559377431869507},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09570646286010742}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.9272971153259277},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8669472336769104},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.7662712335586548},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.7364180088043213},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.686143159866333},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6447975635528564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5637764930725098},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5033556818962097},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.476980060338974},{"id":"https://openalex.org/C2776821279","wikidata":"https://www.wikidata.org/wiki/Q2293902","display_name":"Mobile mapping","level":3,"score":0.4469614326953888},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.34898698329925537},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20184221863746643},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.19559377431869507},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09570646286010742},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2018.8665103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665103","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1488766761","https://openalex.org/W1561837455","https://openalex.org/W1567193306","https://openalex.org/W1576698208","https://openalex.org/W1854144742","https://openalex.org/W1891947214","https://openalex.org/W1967740178","https://openalex.org/W1973629563","https://openalex.org/W2029318526","https://openalex.org/W2043086860","https://openalex.org/W2077680188","https://openalex.org/W2077712408","https://openalex.org/W2103393159","https://openalex.org/W2130422193","https://openalex.org/W2148487973","https://openalex.org/W2247712632","https://openalex.org/W2264103933","https://openalex.org/W2502039689","https://openalex.org/W2544511451","https://openalex.org/W4285719527","https://openalex.org/W6633732797","https://openalex.org/W6634211352","https://openalex.org/W6638783030","https://openalex.org/W6661376238","https://openalex.org/W6669747816","https://openalex.org/W6675456536","https://openalex.org/W6681669484"],"related_works":["https://openalex.org/W1986086148","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W2785359964","https://openalex.org/W3214791684","https://openalex.org/W2768378493","https://openalex.org/W2656678462","https://openalex.org/W2273766282","https://openalex.org/W2353265673","https://openalex.org/W2152662039"],"abstract_inverted_index":{"In":[0,61],"the":[1,28,38,49,69,88],"field":[2,29],"of":[3,14,30,40,71,125],"autonomous":[4],"driving,":[5],"abundant":[6],"researches":[7],"have":[8,33],"been":[9,34],"carried":[10],"out":[11],"in":[12,27],"development":[13],"advanced":[15],"Lidar":[16,72],"or":[17],"vision":[18],"algorithms":[19],"for":[20],"mapping":[21],"and":[22,24,73,117,121,133],"localization,":[23],"some":[25],"efforts":[26],"sensor":[31,42,94],"fusion":[32,70],"made":[35],"to":[36,81,99,111],"combine":[37],"advantages":[39],"multiple":[41],"types.":[43],"However,":[44],"most":[45],"works":[46],"focused":[47],"on":[48,68,113],"2D":[50],"map":[51],"construction,":[52],"which":[53],"had":[54],"its":[55],"own":[56],"limitation":[57],"with":[58,95],"complex":[59],"environments.":[60],"this":[62],"paper,":[63],"a":[64,83,101],"new":[65],"algorithm":[66,108,127],"based":[67],"Inertial":[74],"Measurement":[75],"Unit":[76],"(IMU)":[77],"data":[78],"is":[79,109,119,128],"developed":[80],"construct":[82,100],"2.5D":[84,102],"map.":[85,105],"We":[86],"integrate":[87],"height":[89],"information":[90],"transformed":[91],"from":[92],"IMU":[93],"laser":[96],"scan":[97],"results":[98],"occupied":[103],"grid":[104],"The":[106,123],"proposed":[107],"convenient":[110],"implement":[112],"real-world":[114],"mobile":[115],"vehicles,":[116],"it":[118],"fast":[120],"robust.":[122],"effectiveness":[124],"our":[126],"validated":[129],"by":[130],"both":[131],"simulation":[132],"practical":[134],"experiment.":[135]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}