{"id":"https://openalex.org/W4390873381","doi":"https://doi.org/10.1109/tim.2024.3353846","title":"IPAL: Infinite Planes as Lines for Consistent Mapping in Indoor Multifloor Environments","display_name":"IPAL: Infinite Planes as Lines for Consistent Mapping in Indoor Multifloor Environments","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4390873381","doi":"https://doi.org/10.1109/tim.2024.3353846"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3353846","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tim.2024.3353846","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/A5113572773","display_name":"Xiaofeng Jin","orcid":"https://orcid.org/0009-0006-3659-499X"},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaofeng Jin","raw_affiliation_strings":["Department of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","Ningbo Institute of Materials Technology Engineering, CAS, China"],"raw_orcid":"https://orcid.org/0009-0006-3659-499X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"Ningbo Institute of Materials Technology Engineering, CAS, China","institution_ids":["https://openalex.org/I4210165339"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077889312","display_name":"J. Ge","orcid":"https://orcid.org/0000-0001-6004-4310"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianfei Ge","raw_affiliation_strings":["Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0001-6004-4310","affiliations":[{"raw_affiliation_string":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101226260","display_name":"Jiangjian Xiao","orcid":"https://orcid.org/0000-0003-1868-4001"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangjian Xiao","raw_affiliation_strings":["Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0003-1868-4001","affiliations":[{"raw_affiliation_string":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080306994","display_name":"Ningbo Bu","orcid":"https://orcid.org/0000-0003-3171-9715"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ningbo Bu","raw_affiliation_strings":["Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0003-3171-9715","affiliations":[{"raw_affiliation_string":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110413017","display_name":"Gen Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gen Xu","raw_affiliation_strings":["Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China"],"raw_orcid":"https://orcid.org/0009-0002-7099-5093","affiliations":[{"raw_affiliation_string":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113572773"],"corresponding_institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":1.5823,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.83409281,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"73","issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9991999864578247,"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":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6515594720840454},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.541661262512207},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.49554741382598877},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4953731298446655},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4546052813529968},{"id":"https://openalex.org/keywords/line-segment","display_name":"Line segment","score":0.4451754689216614},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.43349170684814453},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.42142021656036377},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4190405011177063},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4176666736602783},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4072735607624054},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3761235177516937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34324049949645996},{"id":"https://openalex.org/keywords/photogrammetry","display_name":"Photogrammetry","score":0.24817389249801636},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.23085743188858032},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21298444271087646},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2008526623249054},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15232965350151062},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14490145444869995}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6515594720840454},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.541661262512207},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.49554741382598877},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4953731298446655},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4546052813529968},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.4451754689216614},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.43349170684814453},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.42142021656036377},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4190405011177063},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4176666736602783},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4072735607624054},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3761235177516937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34324049949645996},{"id":"https://openalex.org/C117455697","wikidata":"https://www.wikidata.org/wiki/Q190149","display_name":"Photogrammetry","level":2,"score":0.24817389249801636},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.23085743188858032},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21298444271087646},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2008526623249054},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15232965350151062},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14490145444869995},{"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/tim.2024.3353846","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tim.2024.3353846","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":[{"id":"https://metadata.un.org/sdg/11","score":0.800000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1509883834","https://openalex.org/W2036895101","https://openalex.org/W2085261163","https://openalex.org/W2182229738","https://openalex.org/W2738207958","https://openalex.org/W2908603664","https://openalex.org/W3003875941","https://openalex.org/W3007240855","https://openalex.org/W3129245057","https://openalex.org/W3133767727","https://openalex.org/W3203066970","https://openalex.org/W3205251654","https://openalex.org/W3205339211","https://openalex.org/W4210423514","https://openalex.org/W4221153559","https://openalex.org/W4249866455","https://openalex.org/W4285102123","https://openalex.org/W4285200012","https://openalex.org/W4285295417","https://openalex.org/W4317796409","https://openalex.org/W4383428056","https://openalex.org/W4385246585","https://openalex.org/W4385453072","https://openalex.org/W4387042048","https://openalex.org/W6809363997","https://openalex.org/W6842918337"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"Indoor":[0],"high-precision":[1],"maps":[2],"are":[3,40,157,165],"harder":[4],"to":[5,16,42,44,61,137,191],"obtain.":[6],"Numerous":[7],"researchers":[8],"considered":[9],"the":[10,18,25,57,62,111,118,124,130,138],"extendibility":[11],"of":[12,27,89,126,134],"indoor":[13],"plane":[14],"features":[15,32,80],"constrain":[17],"poses":[19],"and":[20,36,104,152,162,187],"improve":[21],"mapping":[22,73,185],"consistency.":[23],"However,":[24],"usage":[26],"parametric":[28],"planar":[29],"or":[30],"line":[31,54],"requires":[33],"complex":[34],"modeling,":[35],"threshold-based":[37],"matching":[38],"methods":[39],"eager":[41],"lead":[43],"degradation.":[45],"Indeed,":[46],"planes":[47],"can":[48],"be":[49],"more":[50],"simply":[51],"represented":[52],"as":[53],"projections,":[55],"with":[56],"projection":[58],"direction":[59],"perpendicular":[60],"plane\u2019s":[63],"normal":[64],"vector.":[65],"In":[66],"this":[67],"article,":[68],"we":[69,178],"proposed":[70],"a":[71,149,168],"novel":[72],"optimization":[74],"framework":[75,87],"that":[76,180],"incorporates":[77],"building":[78,101],"outline":[79,102],"specifically":[81],"designed":[82],"for":[83,114,142],"multistory":[84,135,176],"buildings.":[85],"The":[86,108],"consists":[88],"three":[90],"main":[91],"components:":[92],"LiDAR":[93],"bundle":[94],"adjustment":[95],"(LBA),":[96],"global":[97],"constraints":[98,156],"based":[99,122,159],"on":[100,123,160,175],"features,":[103],"factor":[105,169],"graph":[106],"optimization.":[107],"method":[109],"extracts":[110],"ground":[112],"only":[113],"horizontal":[115],"correction,":[116],"while":[117],"core":[119],"idea":[120],"is":[121,148],"assumption":[125],"vertical":[127],"structure,":[128],"projecting":[129],"point":[131],"cloud":[132],"contours":[133],"buildings":[136],"top":[139],"view":[140],"perspective":[141],"independent":[143],"spatial":[144],"pose":[145],"correlation,":[146],"which":[147],"strong":[150],"constraint":[151],"very":[153],"effective.":[154],"Finally,":[155],"constructed":[158],"keyframes":[161],"intermediate":[163],"frames":[164],"refined":[166],"by":[167],"graph.":[170],"Through":[171],"extensive":[172],"experiments":[173],"conducted":[174],"buildings,":[177],"demonstrate":[179],"our":[181],"algorithm":[182],"significantly":[183],"enhances":[184],"consistency":[186],"local":[188],"accuracy":[189],"compared":[190],"existing":[192],"methods.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-29T09:16:38.111599","created_date":"2025-10-10T00:00:00"}