{"id":"https://openalex.org/W7131089635","doi":"https://doi.org/10.1109/robio66223.2025.11377147","title":"Initial LiDAR Pose Estimation in Stacked Cage Chicken Houses via Geometric Constraints and Multi-Resolution ICP","display_name":"Initial LiDAR Pose Estimation in Stacked Cage Chicken Houses via Geometric Constraints and Multi-Resolution ICP","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131089635","doi":"https://doi.org/10.1109/robio66223.2025.11377147"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5114069794","display_name":"Zhichao Gou","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhichao Gou","raw_affiliation_strings":["College of Biosystems Engineering and Food Science, Zhejiang University,Hangzhou,Zhejiang,China,310058"],"affiliations":[{"raw_affiliation_string":"College of Biosystems Engineering and Food Science, Zhejiang University,Hangzhou,Zhejiang,China,310058","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026147734","display_name":"Donger Yang","orcid":"https://orcid.org/0009-0002-8593-2538"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Donger Yang","raw_affiliation_strings":["College of Biosystems Engineering and Food Science, Zhejiang University,Hangzhou,Zhejiang,China,310058"],"affiliations":[{"raw_affiliation_string":"College of Biosystems Engineering and Food Science, Zhejiang University,Hangzhou,Zhejiang,China,310058","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027326021","display_name":"Haiming Gao","orcid":"https://orcid.org/0000-0001-7720-1749"},"institutions":[{"id":"https://openalex.org/I168879160","display_name":"Zhejiang University of Science and Technology","ror":"https://ror.org/05mx0wr29","country_code":"CN","type":"education","lineage":["https://openalex.org/I168879160"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiming Gao","raw_affiliation_strings":["ZIU-Hangzhou Global Scientific and Technological Innovation Center, Zhejiang University,Hangzhou,China,311215"],"affiliations":[{"raw_affiliation_string":"ZIU-Hangzhou Global Scientific and Technological Innovation Center, Zhejiang University,Hangzhou,China,311215","institution_ids":["https://openalex.org/I168879160"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101444445","display_name":"Di Cui","orcid":"https://orcid.org/0000-0002-6523-2967"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Di Cui","raw_affiliation_strings":["College of Biosystems Engineering and Food Science, Zhejiang University,Hangzhou,Zhejiang,China,310058"],"affiliations":[{"raw_affiliation_string":"College of Biosystems Engineering and Food Science, Zhejiang University,Hangzhou,Zhejiang,China,310058","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5114069794"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.86692209,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.3747999966144562,"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":0.3747999966144562,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.0754999965429306,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12740","display_name":"Gait Recognition and Analysis","score":0.06700000166893005,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"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/pose","display_name":"Pose","score":0.753600001335144},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.6938999891281128},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6258000135421753},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6193000078201294},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6093999743461609},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6018999814987183},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5300999879837036},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5218999981880188},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45159998536109924}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.753600001335144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7509999871253967},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7458000183105469},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6938999891281128},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6258000135421753},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6193000078201294},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6093999743461609},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6018999814987183},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5860999822616577},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5300999879837036},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5218999981880188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45159998536109924},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4090000092983246},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.37439998984336853},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.34929999709129333},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.3253999948501587},{"id":"https://openalex.org/C173064807","wikidata":"https://www.wikidata.org/wiki/Q7233190","display_name":"Position error","level":3,"score":0.3059999942779541},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.30390000343322754},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.2992999851703644},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2978000044822693},{"id":"https://openalex.org/C193581530","wikidata":"https://www.wikidata.org/wiki/Q683778","display_name":"Structured light","level":2,"score":0.28760001063346863},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.27950000762939453},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27880001068115234},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2784000039100647},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.26899999380111694},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.26159998774528503},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26100000739097595},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.503508985042572}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W2604710118","https://openalex.org/W2910489334","https://openalex.org/W2953989568","https://openalex.org/W2994064612","https://openalex.org/W3111598592","https://openalex.org/W3130081760","https://openalex.org/W3161959216","https://openalex.org/W3215403518","https://openalex.org/W4225829088","https://openalex.org/W4292544413","https://openalex.org/W4293117621","https://openalex.org/W4312752766","https://openalex.org/W4312990699","https://openalex.org/W4387682177","https://openalex.org/W4395061675","https://openalex.org/W4396881895","https://openalex.org/W4402329657","https://openalex.org/W4406255970","https://openalex.org/W4410783469"],"related_works":[],"abstract_inverted_index":{"Achieving":[0],"robust":[1],"global":[2,87],"localization":[3],"for":[4,42],"mobile":[5],"robots":[6],"in":[7,51],"stacked":[8],"cage":[9],"chicken":[10],"houses":[11],"(SCFHs)":[12],"is":[13],"particularly":[14],"challenging":[15],"due":[16],"to":[17],"their":[18],"long,":[19],"self-similar":[20],"corridors,":[21],"GNSS-denied":[22],"environments,":[23],"and":[24,75,105,130],"extremely":[25],"low":[26],"illumination":[27],"that":[28],"undermines":[29],"vision-based":[30],"approaches.":[31],"This":[32],"paper":[33],"presents":[34],"an":[35],"initial":[36],"pose":[37,58],"estimation":[38],"pipeline":[39],"specifically":[40],"designed":[41],"SCFHs.":[43],"The":[44,120],"system":[45],"first":[46],"accumulates":[47],"a":[48,85],"local":[49],"map":[50],"real":[52],"time":[53],"using":[54],"Faster-LIO,":[55],"then":[56],"generates":[57],"hypotheses":[59],"by":[60],"exploiting":[61],"geometric":[62],"constraints":[63],"derived":[64],"from":[65,116],"dominant":[66],"rectangular":[67],"structures,":[68],"fuses":[69],"them":[70],"with":[71],"inertial":[72],"heading":[73],"priors,":[74],"finally":[76],"selects":[77],"the":[78],"optimal":[79],"alignment":[80],"via":[81],"multi-resolution":[82],"ICP":[83],"against":[84],"prebuilt":[86],"map.":[88],"Structured":[89],"experiments":[90],"conducted":[91],"across":[92],"three":[93],"representative":[94],"SCFH":[95],"scenarios":[96],"demonstrate":[97],"consistent":[98],"mean":[99,106],"position":[100],"errors":[101,108],"below":[102,109],"0.318":[103],"m":[104],"orientation":[107],"1.089\u00b0,":[110],"achieving":[111],">":[112],"90%":[113],"successful":[114],"initializations":[115],"arbitrary":[117],"starting":[118],"poses.":[119],"proposed":[121],"method":[122],"substantially":[123],"outperforms":[124],"state-of-the-art":[125],"baselines,":[126],"including":[127],"Scan":[128],"Context":[129],"FPFH+TEASER++.":[131]},"counts_by_year":[],"updated_date":"2026-02-25T06:17:34.324206","created_date":"2026-02-24T00:00:00"}
