{"id":"https://openalex.org/W4205877297","doi":"https://doi.org/10.1109/taes.2021.3135234","title":"LILO: A Novel Lidar\u2013IMU SLAM System With Loop Optimization","display_name":"LILO: A Novel Lidar\u2013IMU SLAM System With Loop Optimization","publication_year":2021,"publication_date":"2021-12-17","ids":{"openalex":"https://openalex.org/W4205877297","doi":"https://doi.org/10.1109/taes.2021.3135234"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2021.3135234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2021.3135234","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","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/A5100388126","display_name":"Yi Zhang","orcid":"https://orcid.org/0000-0002-2028-048X"},"institutions":[{"id":"https://openalex.org/I24185976","display_name":"Sichuan University","ror":"https://ror.org/011ashp19","country_code":"CN","type":"education","lineage":["https://openalex.org/I24185976"]},{"id":"https://openalex.org/I4210125143","display_name":"Chengdu University","ror":"https://ror.org/034z67559","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210125143"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yi Zhang","raw_affiliation_strings":["Department of Computer Science, Sichuan University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-2028-048X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Sichuan University, Chengdu, China","institution_ids":["https://openalex.org/I4210125143","https://openalex.org/I24185976"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100388126"],"corresponding_institution_ids":["https://openalex.org/I24185976","https://openalex.org/I4210125143"],"apc_list":null,"apc_paid":null,"fwci":17.5175,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.98596486,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"58","issue":"4","first_page":"2649","last_page":"2659"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987000226974487,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8901040554046631},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6933269500732422},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6833982467651367},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6676062345504761},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.655206561088562},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6440486907958984},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.6369359493255615},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5931028127670288},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4344760775566101},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4177710711956024},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3421470522880554},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17585712671279907},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17392688989639282},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1425248682498932},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10099631547927856}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8901040554046631},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6933269500732422},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6833982467651367},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6676062345504761},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.655206561088562},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6440486907958984},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.6369359493255615},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5931028127670288},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4344760775566101},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4177710711956024},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3421470522880554},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17585712671279907},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17392688989639282},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1425248682498932},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10099631547927856},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2021.3135234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2021.3135234","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1612997784","https://openalex.org/W1967740178","https://openalex.org/W2296228853","https://openalex.org/W2745859992","https://openalex.org/W2785582094","https://openalex.org/W2801403503","https://openalex.org/W2803595004","https://openalex.org/W2803993251","https://openalex.org/W2886968365","https://openalex.org/W2890354344","https://openalex.org/W2905274083","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2945926083","https://openalex.org/W2991853568","https://openalex.org/W3081814165","https://openalex.org/W3091486995","https://openalex.org/W3092861917","https://openalex.org/W3102369338","https://openalex.org/W3105213754","https://openalex.org/W3129245057","https://openalex.org/W3133648073"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W2594043982","https://openalex.org/W3036493597","https://openalex.org/W2486104965","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2991246638"],"abstract_inverted_index":{"Light":[0],"detection":[1,125],"and":[2,14,34,46,79,112,120,132,141],"ranging":[3],"(Lidar)":[4],"has":[5,18],"become":[6],"the":[7,26,69,73,93,109,145],"core":[8],"device":[9],"in":[10,22,48],"a":[11,56,99],"simultaneous":[12],"localization":[13,133],"mapping":[15],"system,":[16],"which":[17],"attracted":[19],"much":[20],"attention":[21],"recent":[23],"years.":[24],"However,":[25],"point":[27],"clouds":[28],"acquired":[29],"by":[30,117],"Lidar":[31,59,75],"are":[32,77],"sparse":[33],"mutually":[35],"uncorrelated,":[36],"making":[37],"it":[38],"difficult":[39],"to":[40,67,91,106,128],"calculate":[41],"correspondences":[42],"between":[43],"consecutive":[44],"frames":[45],"resulting":[47],"data":[49],"drifting.":[50],"In":[51],"this":[52],"situation,":[53],"we":[54],"propose":[55],"tightly":[57],"coupled":[58],"+":[60],"IMU":[61],"fusion":[62],"system":[63],"with":[64],"loop":[65,123],"optimization":[66],"address":[68],"above-mentioned":[70],"problems.":[71],"First,":[72],"ground":[74],"points":[76],"segmented":[78],"removed.":[80],"Second,":[81],"under":[82],"our":[83,148],"framework,":[84],"an":[85],"inertial":[86],"measurement":[87],"unit":[88],"is":[89,104,115,126],"used":[90],"deskew":[92],"motion":[94],"distortion":[95],"of":[96,147],"Lidar.":[97],"Third,":[98],"voxel":[100],"grid":[101],"filtering":[102],"process":[103],"implemented":[105],"further":[107],"eliminate":[108],"redundant":[110],"points,":[111],"feature":[113],"matching":[114],"performed":[116],"identifying":[118],"lines":[119],"planes.":[121],"Finally,":[122],"closure":[124],"realized":[127],"correct":[129],"pose":[130],"estimation":[131],"error.":[134],"Experimental":[135],"results":[136],"on":[137],"both":[138],"public":[139],"dataset":[140],"field":[142],"test":[143],"demonstrate":[144],"effectiveness":[146],"algorithm.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}