{"id":"https://openalex.org/W3110870077","doi":"https://doi.org/10.1109/tim.2020.3024405","title":"An Integrated GNSS/LiDAR-SLAM Pose Estimation Framework for Large-Scale Map Building in Partially GNSS-Denied Environments","display_name":"An Integrated GNSS/LiDAR-SLAM Pose Estimation Framework for Large-Scale Map Building in Partially GNSS-Denied Environments","publication_year":2020,"publication_date":"2020-09-17","ids":{"openalex":"https://openalex.org/W3110870077","doi":"https://doi.org/10.1109/tim.2020.3024405","mag":"3110870077"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2020.3024405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2020.3024405","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5013611289","display_name":"Guojian He","orcid":"https://orcid.org/0000-0002-5937-0415"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guojian He","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101820584","display_name":"Xiongbing Yuan","orcid":"https://orcid.org/0000-0003-2470-4224"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingda Yuan","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009698718","display_name":"Yan Zhuang","orcid":"https://orcid.org/0000-0002-7640-4330"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zhuang","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100600900","display_name":"Huosheng Hu","orcid":"https://orcid.org/0000-0001-5797-1412"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Huosheng Hu","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex, Colchester, U.K"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex, Colchester, U.K","institution_ids":["https://openalex.org/I110002522"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5013611289"],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":130.2279,"has_fulltext":false,"cited_by_count":131,"citation_normalized_percentile":{"value":0.99947143,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"70","issue":null,"first_page":"1","last_page":"9"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9984999895095825,"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/gnss-applications","display_name":"GNSS applications","score":0.9681705236434937},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7543799877166748},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7170702815055847},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6564911603927612},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5857478380203247},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5754663944244385},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5216132402420044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5079835057258606},{"id":"https://openalex.org/keywords/air-navigation","display_name":"Air navigation","score":0.4871513545513153},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.46215158700942993},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4182494580745697},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2624635696411133},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1505640745162964},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09937748312950134},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06758597493171692}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.9681705236434937},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7543799877166748},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7170702815055847},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6564911603927612},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5857478380203247},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5754663944244385},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5216132402420044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5079835057258606},{"id":"https://openalex.org/C504623915","wikidata":"https://www.wikidata.org/wiki/Q1427822","display_name":"Air navigation","level":3,"score":0.4871513545513153},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.46215158700942993},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4182494580745697},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2624635696411133},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1505640745162964},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09937748312950134},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06758597493171692}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2020.3024405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2020.3024405","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G398002619","display_name":null,"funder_award_id":"U1913201","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1807874130","https://openalex.org/W1968315983","https://openalex.org/W2017420467","https://openalex.org/W2083946184","https://openalex.org/W2133471976","https://openalex.org/W2160821342","https://openalex.org/W2163570556","https://openalex.org/W2277848489","https://openalex.org/W2411093439","https://openalex.org/W2566692295","https://openalex.org/W2761494487","https://openalex.org/W2900814181","https://openalex.org/W2904947712","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2984768289","https://openalex.org/W3129245057","https://openalex.org/W4249866455","https://openalex.org/W6780411392"],"related_works":["https://openalex.org/W2186309355","https://openalex.org/W2780584843","https://openalex.org/W4382584618","https://openalex.org/W2525440477","https://openalex.org/W4224326824","https://openalex.org/W2346939607","https://openalex.org/W3094757105","https://openalex.org/W2403965264","https://openalex.org/W2470331120","https://openalex.org/W2372844259"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"an":[3],"integrated":[4],"global":[5],"navigation":[6],"satellite":[7],"system/light":[8],"detection":[9],"and":[10,15,43,73,105,147,157],"ranging":[11],"(GNSS/LiDAR)-based":[12],"simultaneous":[13,144],"localization":[14],"mapping":[16,60,88,95],"(SLAM)":[17],"pose":[18,145],"estimation":[19,114,146],"framework":[20,33,141],"to":[21,45,52,70,79,100,136],"perform":[22,111],"large-scale":[23,133],"3-D":[24,65],"map":[25,48,148],"building":[26,49,149],"in":[27,61,89,132,153],"partially":[28],"GNSS-denied":[29,62,158],"outdoor":[30,134],"environments.":[31],"The":[32],"takes":[34],"the":[35,38,47,53,84,112,116,120,126,139],"advantage":[36],"of":[37,118],"complementarity":[39],"between":[40],"GNSS":[41,54,103,127],"positioning":[42,104],"LiDAR-SLAM":[44,66],"decompose":[46],"task":[50],"according":[51],"real-time":[55],"kinematic":[56],"(RTK)":[57],"status.":[58],"When":[59],"scenes,":[63,91],"a":[64,74,92],"algorithm":[67,76,96],"is":[68,77,98],"adopted":[69],"estimate":[71],"poses":[72],"correction":[75],"presented":[78],"correct":[80],"drift":[81],"errors.":[82],"On":[83],"other":[85],"hand,":[86],"when":[87],"open":[90,155],"GNSS-initialized":[93],"LiDAR":[94,106],"(GL-mapping)":[97],"proposed":[99,140],"loosely":[101],"couple":[102],"data":[107],"registration.":[108],"It":[109],"can":[110,142],"orientation":[113],"without":[115],"use":[117],"either":[119],"high-cost":[121],"inertial":[122],"sensing":[123],"device":[124],"or":[125],"dual-antenna.":[128],"Experiments":[129],"are":[130],"conducted":[131],"environments":[135],"demonstrate":[137],"that":[138],"accomplish":[143],"with":[150],"high":[151],"precision":[152],"both":[154],"scenes":[156],"scenes.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":29},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":29},{"year":2021,"cited_by_count":28},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}
