{"id":"https://openalex.org/W4405709943","doi":"https://doi.org/10.1109/robot61475.2024.10796891","title":"Impact of 3D LiDAR Resolution in Graph-Based SLAM Approaches: A Comparative Study","display_name":"Impact of 3D LiDAR Resolution in Graph-Based SLAM Approaches: A Comparative Study","publication_year":2024,"publication_date":"2024-11-06","ids":{"openalex":"https://openalex.org/W4405709943","doi":"https://doi.org/10.1109/robot61475.2024.10796891"},"language":"en","primary_location":{"id":"doi:10.1109/robot61475.2024.10796891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot61475.2024.10796891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 7th Iberian Robotics Conference (ROBOT)","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":null,"display_name":"J. Jorge","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"J. Jorge","raw_affiliation_strings":["University of Coimbra, Institute of Systems and Robotics,DEEC,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Coimbra, Institute of Systems and Robotics,DEEC,Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051833219","display_name":"Tiago Barros","orcid":"https://orcid.org/0000-0001-7574-3819"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"T. Barros","raw_affiliation_strings":["University of Coimbra, Institute of Systems and Robotics,DEEC,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Coimbra, Institute of Systems and Robotics,DEEC,Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026464495","display_name":"C. Premebida","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"C. Premebida","raw_affiliation_strings":["University of Coimbra, Institute of Systems and Robotics,DEEC,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Coimbra, Institute of Systems and Robotics,DEEC,Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038248833","display_name":"Mitko Aleksandrov","orcid":"https://orcid.org/0000-0002-7030-024X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M. Aleksandrov","raw_affiliation_strings":["Data Science Institute, Universit&#x00E4;t Greifswald,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data Science Institute, Universit&#x00E4;t Greifswald,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047179648","display_name":"D. R. Goehring","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"D. Goehring","raw_affiliation_strings":["Institute of Computer Science, Freie Universit&#x00E4;t Berlin,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, Freie Universit&#x00E4;t Berlin,Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011728288","display_name":"Urbano Nunes","orcid":"https://orcid.org/0000-0002-7750-5221"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"U.J. Nunes","raw_affiliation_strings":["University of Coimbra, Institute of Systems and Robotics,DEEC,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Coimbra, Institute of Systems and Robotics,DEEC,Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2655,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89013742,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"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":0.9994000196456909,"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":0.9994000196456909,"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":0.9930999875068665,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9850000143051147,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7890504002571106},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7013446092605591},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6493475437164307},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5431780219078064},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49321311712265015},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.48036202788352966},{"id":"https://openalex.org/keywords/resolution","display_name":"Resolution (logic)","score":0.48012828826904297},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3619633913040161},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.21749475598335266},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19171202182769775},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17756617069244385},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.11761537194252014}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7890504002571106},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7013446092605591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6493475437164307},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5431780219078064},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49321311712265015},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.48036202788352966},{"id":"https://openalex.org/C138268822","wikidata":"https://www.wikidata.org/wiki/Q1051925","display_name":"Resolution (logic)","level":2,"score":0.48012828826904297},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3619633913040161},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.21749475598335266},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19171202182769775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17756617069244385},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.11761537194252014}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot61475.2024.10796891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot61475.2024.10796891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 7th Iberian Robotics Conference (ROBOT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5659781734","display_name":null,"funder_award_id":"UIDB/00048/2020","funder_id":"https://openalex.org/F4320337197","funder_display_name":"Nuclear Fuel Cycle and Supply Chain"}],"funders":[{"id":"https://openalex.org/F4320337197","display_name":"Nuclear Fuel Cycle and Supply Chain","ror":"https://ror.org/05tj7dm33"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1567242735","https://openalex.org/W1612997784","https://openalex.org/W1656165940","https://openalex.org/W1749494163","https://openalex.org/W1967740178","https://openalex.org/W2005389775","https://openalex.org/W2020934227","https://openalex.org/W2049981393","https://openalex.org/W2085261163","https://openalex.org/W2107528150","https://openalex.org/W2130422193","https://openalex.org/W2150066425","https://openalex.org/W2153054365","https://openalex.org/W2271206385","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2461937780","https://openalex.org/W2592664700","https://openalex.org/W2909908358","https://openalex.org/W2938839210","https://openalex.org/W2940793188","https://openalex.org/W2963562098","https://openalex.org/W3129245057","https://openalex.org/W4249866455","https://openalex.org/W4400453648","https://openalex.org/W6685664056","https://openalex.org/W6781313219","https://openalex.org/W6798030606"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W4212966960","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W3196708299","https://openalex.org/W3126674423"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,76,100,116,136,149],"Mapping":[3],"(SLAM)":[4],"is":[5],"a":[6,17,26,117],"key":[7],"component":[8],"of":[9,34,146],"autonomous":[10],"systems":[11],"operating":[12],"in":[13,67,129,144],"environments":[14,105],"that":[15],"require":[16],"consistent":[18],"map":[19],"for":[20,30],"reliable":[21],"localization.":[22],"SLAM":[23,93],"has":[24],"been":[25],"widely":[27],"studied":[28],"topic":[29],"decades":[31],"with":[32,113],"most":[33],"the":[35,84,107],"solutions":[36],"being":[37],"camera":[38],"or":[39],"LiDAR":[40,85,112],"based.":[41],"Early":[42],"LiDAR-based":[43,64],"approaches":[44],"primarily":[45],"relied":[46],"on":[47,102],"2D":[48],"data,":[49],"whereas":[50],"more":[51],"recent":[52,62],"frameworks":[53],"use":[54],"3D":[55,63],"data.":[56],"In":[57],"this":[58],"work,":[59],"we":[60,79,95],"survey":[61],"Graph-SLAM":[65],"methods":[66],"urban":[68,104],"environments,":[69],"aiming":[70],"to":[71],"compare":[72],"their":[73,81],"strengths,":[74],"weaknesses,":[75],"limitations.":[77],"Additionally,":[78],"evaluate":[80,96],"robustness":[82],"regarding":[83],"resolution":[86],"namely":[87],"64":[88,135],"vs":[89],"128":[90,137],"channels.":[91],"Regarding":[92],"methods,":[94],"SC-LeGO-LOAM,":[97],"SC-LIO-SAM,":[98],"Cartographer,":[99],"HDL-Graph":[101],"real-world":[103],"using":[106,125],"KITTI":[108],"odometry":[109],"dataset":[110,119],"(a":[111],"64-channels":[114],"only)":[115],"new":[118],"(AUTONOMOS-LABS).":[120],"The":[121,139],"latter":[122],"dataset,":[123],"collected":[124],"instrumented":[126],"vehicles":[127],"driving":[128],"Berlin":[130],"suburban":[131],"area,":[132],"comprises":[133],"both":[134],"LiDARs.":[138],"experimental":[140],"results":[141],"are":[142],"reported":[143],"terms":[145],"quantitative":[147],"'metrics'":[148],"complemented":[150],"by":[151],"qualitative":[152],"maps.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
