{"id":"https://openalex.org/W7127198030","doi":"https://doi.org/10.1109/tie.2025.3639786","title":"LiDAR-Inertial SLAM With Voxel-Information Filter for Autonomous Surface Vehicles","display_name":"LiDAR-Inertial SLAM With Voxel-Information Filter for Autonomous Surface Vehicles","publication_year":2026,"publication_date":"2026-02-02","ids":{"openalex":"https://openalex.org/W7127198030","doi":"https://doi.org/10.1109/tie.2025.3639786"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2025.3639786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3639786","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5121718033","display_name":"Jialuo Li","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jialuo Li","raw_affiliation_strings":["School of Artificial Intelligence and Automation, the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0003-5675-4063","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hai-Tao Zhang","orcid":"https://orcid.org/0000-0002-8819-8829"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hai-Tao Zhang","raw_affiliation_strings":["School of Artificial Intelligence and Automation, the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-8819-8829","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ran Shi","orcid":"https://orcid.org/0009-0006-5338-4724"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Shi","raw_affiliation_strings":["School of Artificial Intelligence and Automation, the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0006-5338-4724","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108985848","display_name":"Jiayu Zou","orcid":"https://orcid.org/0009-0002-3976-4860"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayu Zou","raw_affiliation_strings":["School of Artificial Intelligence and Automation, the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0002-3976-4860","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124810207","display_name":"Bin Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I2799850029","display_name":"Dongguan University of Technology","ror":"https://ror.org/01m8p7q42","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799850029"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liu","raw_affiliation_strings":["International School of Microelectronics, the High-Performance Integrated Circuits and Systems Laboratory, Dongguan University of Technology, Dongguan, China"],"raw_orcid":"https://orcid.org/0000-0001-8520-6849","affiliations":[{"raw_affiliation_string":"International School of Microelectronics, the High-Performance Integrated Circuits and Systems Laboratory, Dongguan University of Technology, Dongguan, China","institution_ids":["https://openalex.org/I2799850029"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yang Tang","orcid":"https://orcid.org/0000-0002-2750-8029"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Tang","raw_affiliation_strings":["Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-2750-8029","affiliations":[{"raw_affiliation_string":"Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5121718033"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21069235,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"6","first_page":"8804","last_page":"8814"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8327000141143799,"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":0.8327000141143799,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.09390000253915787,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.012600000016391277,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/odometry","display_name":"Odometry","score":0.8361999988555908},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6302000284194946},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5667999982833862},{"id":"https://openalex.org/keywords/extrapolation","display_name":"Extrapolation","score":0.555899977684021},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5485000014305115},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.49380001425743103},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4357999861240387}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8361999988555908},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6302000284194946},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6299999952316284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.620199978351593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5677000284194946},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5667999982833862},{"id":"https://openalex.org/C132459708","wikidata":"https://www.wikidata.org/wiki/Q744069","display_name":"Extrapolation","level":2,"score":0.555899977684021},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5485000014305115},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.49380001425743103},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4357999861240387},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.3912999927997589},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.3617999851703644},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.3310999870300293},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.3025999963283539},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2922999858856201},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.2890999913215637},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2705000042915344},{"id":"https://openalex.org/C17866373","wikidata":"https://www.wikidata.org/wiki/Q5437042","display_name":"Fast marching method","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2628999948501587}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3639786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3639786","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G234177690","display_name":null,"funder_award_id":"52188102","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G372449780","display_name":null,"funder_award_id":"U2141235","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4119304363","display_name":null,"funder_award_id":"62225306","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1987034518","https://openalex.org/W2031392034","https://openalex.org/W2046033161","https://openalex.org/W2062506051","https://openalex.org/W2087070363","https://openalex.org/W2122111042","https://openalex.org/W2296228853","https://openalex.org/W2461937780","https://openalex.org/W2745859992","https://openalex.org/W2890463142","https://openalex.org/W2909908358","https://openalex.org/W2962787639","https://openalex.org/W3007240855","https://openalex.org/W3104285145","https://openalex.org/W3129245057","https://openalex.org/W3131641033","https://openalex.org/W3133648073","https://openalex.org/W4210423514","https://openalex.org/W4229007520","https://openalex.org/W4249866455","https://openalex.org/W4255816247","https://openalex.org/W4281555123","https://openalex.org/W4292544413","https://openalex.org/W4308783090","https://openalex.org/W4312829963","https://openalex.org/W4380434613","https://openalex.org/W4382119372","https://openalex.org/W4383109468","https://openalex.org/W4385246585","https://openalex.org/W4386142794","https://openalex.org/W4388206687","https://openalex.org/W4390590927","https://openalex.org/W4391547672","https://openalex.org/W4400307598","https://openalex.org/W4402508764","https://openalex.org/W4404102034","https://openalex.org/W4406094182","https://openalex.org/W4412672805","https://openalex.org/W4415783115"],"related_works":[],"abstract_inverted_index":{"Due":[0],"to":[1,49,98],"the":[2,100],"high":[3,51],"cost":[4],"and":[5,13,43,83],"limited":[6],"onboard":[7],"computational":[8],"capabilities,":[9],"real-time":[10],"simultaneous":[11],"localization":[12],"mapping":[14],"(SLAM)":[15],"for":[16],"autonomous":[17],"surface":[18],"vehicles":[19],"(ASVs)":[20],"in":[21],"complex":[22],"water":[23],"environments":[24],"has":[25],"long":[26],"been":[27],"a":[28,35,56,75,94],"technology":[29],"challenge.":[30],"To":[31,70],"address":[32],"this":[33],"issue,":[34],"tightly":[36],"coupled":[37],"voxel-informed":[38],"gradient":[39],"Anderson":[40,84],"light":[41],"detection":[42],"ranging":[44],"(LiDAR)-inertial":[45],"odometry":[46],"is":[47,63,86],"designed":[48],"facilitate":[50],"efficient":[52],"ASV":[53,72,96],"SLAM.":[54],"Therein,":[55],"manifold-constrained":[57],"iterative":[58],"information":[59],"filtering":[60],"optimization":[61],"scheme":[62],"devised":[64],"with":[65],"adaptive":[66],"outlier":[67],"rejection":[68],"design.":[69],"enhance":[71],"SLAM":[73,104],"efficiency,":[74],"voxel-based":[76],"acceleration":[77],"mechanism":[78],"featuring":[79],"voxel":[80],"search":[81],"pruning":[82],"extrapolation":[85],"proposed.":[87],"Finally,":[88],"extensive":[89],"experiments":[90],"are":[91],"conducted":[92],"on":[93],"self-established":[95],"platform":[97],"verify":[99],"effectiveness":[101],"of":[102],"our":[103],"scheme.":[105]},"counts_by_year":[],"updated_date":"2026-05-05T06:06:40.768181","created_date":"2026-02-03T00:00:00"}
