{"id":"https://openalex.org/W4392188560","doi":"https://doi.org/10.1109/tim.2024.3370762","title":"Multimodal Features and Accurate Place Recognition With Robust Optimization for Lidar\u2013Visual\u2013Inertial SLAM","display_name":"Multimodal Features and Accurate Place Recognition With Robust Optimization for Lidar\u2013Visual\u2013Inertial SLAM","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392188560","doi":"https://doi.org/10.1109/tim.2024.3370762"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3370762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3370762","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/A5030696849","display_name":"Xiongwei Zhao","orcid":"https://orcid.org/0000-0002-2528-7592"},"institutions":[{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiongwei Zhao","raw_affiliation_strings":["School of Electronic and Information Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-2528-7592","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I158809036","https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062799681","display_name":"Congcong Wen","orcid":"https://orcid.org/0000-0001-6448-003X"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Congcong Wen","raw_affiliation_strings":["NYU Tandon School of Engineering, New York University, New York, NY, USA"],"raw_orcid":"https://orcid.org/0000-0001-6448-003X","affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University, New York, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023441239","display_name":"Sai Manoj Prakhya","orcid":"https://orcid.org/0000-0001-7302-9865"},"institutions":[{"id":"https://openalex.org/I4210166625","display_name":"Huawei German Research Center","ror":"https://ror.org/00z59w514","country_code":"DE","type":"facility","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210129353","https://openalex.org/I4210166625"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sai Manoj Prakhya","raw_affiliation_strings":["Huawei Munich Research Center, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7302-9865","affiliations":[{"raw_affiliation_string":"Huawei Munich Research Center, Munich, Germany","institution_ids":["https://openalex.org/I4210166625"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039725340","display_name":"Hongpei Yin","orcid":"https://orcid.org/0000-0002-1415-9229"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hongpei Yin","raw_affiliation_strings":["Guangdong Institute of Artificial Intelligence and Advanced Computing, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1415-9229","affiliations":[{"raw_affiliation_string":"Guangdong Institute of Artificial Intelligence and Advanced Computing, Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072545582","display_name":"Rundong Zhou","orcid":"https://orcid.org/0000-0002-7969-4708"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rundong Zhou","raw_affiliation_strings":["School of Electronic and Information Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7969-4708","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011284602","display_name":"Yijiao Sun","orcid":"https://orcid.org/0000-0001-8491-0957"},"institutions":[{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yijiao Sun","raw_affiliation_strings":["School of Electronic and Information Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8491-0957","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I158809036","https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100335018","display_name":"Jie Xu","orcid":"https://orcid.org/0000-0002-6846-6734"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Xu","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6846-6734","affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088342942","display_name":"Haojie Bai","orcid":"https://orcid.org/0000-0002-7565-7918"},"institutions":[{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haojie Bai","raw_affiliation_strings":["School of Electronic and Information Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7565-7918","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I158809036","https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100725760","display_name":"Yang Wang","orcid":"https://orcid.org/0000-0001-9894-7478"},"institutions":[{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Wang","raw_affiliation_strings":["School of Electronic and Information Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-9894-7478","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I158809036","https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":17.7169,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.9875881,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"73","issue":null,"first_page":"1","last_page":"16"},"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":0.9980000257492065,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9965000152587891,"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":0.7479931116104126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6456212997436523},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.636080265045166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5922161936759949},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.45142900943756104},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.44723984599113464},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4124143719673157},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.34722039103507996},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20196768641471863},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.18907102942466736},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15008950233459473},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13311415910720825},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08278462290763855}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7479931116104126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6456212997436523},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.636080265045166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5922161936759949},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.45142900943756104},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.44723984599113464},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4124143719673157},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.34722039103507996},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20196768641471863},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.18907102942466736},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15008950233459473},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13311415910720825},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08278462290763855},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2024.3370762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3370762","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1539091696","https://openalex.org/W1564871316","https://openalex.org/W1989484209","https://openalex.org/W2008849352","https://openalex.org/W2021278996","https://openalex.org/W2088616581","https://openalex.org/W2112510830","https://openalex.org/W2150066425","https://openalex.org/W2160072137","https://openalex.org/W2335829695","https://openalex.org/W2344474200","https://openalex.org/W2396274919","https://openalex.org/W2560609797","https://openalex.org/W2609402060","https://openalex.org/W2620629206","https://openalex.org/W2745859992","https://openalex.org/W2888422218","https://openalex.org/W2893273889","https://openalex.org/W2910489334","https://openalex.org/W2955863859","https://openalex.org/W2963708168","https://openalex.org/W2967205338","https://openalex.org/W2973258311","https://openalex.org/W3002158350","https://openalex.org/W3003659795","https://openalex.org/W3011465262","https://openalex.org/W3075672195","https://openalex.org/W3089389996","https://openalex.org/W3100687815","https://openalex.org/W3104290757","https://openalex.org/W3129245057","https://openalex.org/W3130609318","https://openalex.org/W3130736756","https://openalex.org/W3162423126","https://openalex.org/W3175237403","https://openalex.org/W3181051035","https://openalex.org/W3192680689","https://openalex.org/W3198433177","https://openalex.org/W3199184510","https://openalex.org/W3205114100","https://openalex.org/W3206221349","https://openalex.org/W3206845495","https://openalex.org/W4205574455","https://openalex.org/W4214873631","https://openalex.org/W4225818300","https://openalex.org/W4226391002","https://openalex.org/W4281782917","https://openalex.org/W4285298655","https://openalex.org/W4285507666","https://openalex.org/W4285512293","https://openalex.org/W4307240558","https://openalex.org/W4312397549","https://openalex.org/W4312773335","https://openalex.org/W4313291162","https://openalex.org/W4315472093","https://openalex.org/W4376464574","https://openalex.org/W4383108801","https://openalex.org/W6677548441","https://openalex.org/W6756486208","https://openalex.org/W6850193964"],"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/W4281783339","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423"],"abstract_inverted_index":{"Lidar-Visual-Inertial":[0,103],"SLAM":[1,53,104],"(LVINS)":[2],"provides":[3],"a":[4,119,148,154,215],"compelling":[5],"solution":[6],"for":[7],"accurate":[8],"and":[9,13,42,131,139,171,205,225,247,281],"robust":[10,149,278],"state":[11,256],"estimation":[12,257],"mapping,":[14],"integrating":[15],"complementary":[16],"information":[17,83,207],"from":[18,39,84,208],"multi-sensor":[19,51],"data.":[20],"However,":[21],"in":[22,66,90,274],"the":[23,46,70,100,166,177,187,209,268],"front-end":[24],"processing":[25],"of":[26,49,112,141,168,179,189,270],"existing":[27,74,261],"LVINS":[28],"systems,":[29],"methods":[30],"based":[31,164],"on":[32,81,165,181,237],"visual":[33,122,224,275],"line":[34,123,142,276],"feature":[35,59,143,169],"matching":[36,124],"typically":[37],"suffer":[38],"low":[40],"accuracy":[41,140,258],"are":[43],"time-consuming.":[44],"Additionally,":[45],"back-end":[47],"optimization":[48,151],"current":[50],"fusion":[52],"systems":[54],"is":[55,162],"adversely":[56],"affected":[57],"by":[58],"association":[60,170],"outliers,":[61],"which":[62],"constrains":[63],"further":[64],"enhancements":[65],"localization":[67],"precision.":[68],"In":[69],"loop":[71,76,191,284],"closure":[72,77,192,285],"process,":[73],"lidar":[75,199,228,283],"descriptors,":[78],"relying":[79],"primarily":[80],"2D":[82],"point":[85,210],"clouds,":[86],"often":[87],"fall":[88],"short":[89],"complex":[91],"environments.":[92],"To":[93],"effectively":[94],"tackle":[95],"these":[96],"challenges,":[97],"we":[98,117,146,194],"introduce":[99,195],"Multi-Modal":[101],"Feature-based":[102],"framework,":[105],"abbreviated":[106],"as":[107],"MMF-LVINS.":[108],"Our":[109],"framework":[110],"consists":[111],"three":[113],"major":[114],"innovations.":[115],"Firstly,":[116],"propose":[118,214],"novel":[120],"coarse-to-fine":[121],"method":[125],"that":[126,201,220,250],"utilizes":[127],"geometric":[128],"descriptor":[129,200],"similarity":[130],"optical":[132],"flow":[133],"verification,":[134],"substantially":[135],"improving":[136],"both":[137,223],"efficiency":[138],"matching.":[144],"Secondly,":[145],"present":[147],"iterative":[150,279],"approach":[152],"featuring":[153],"newly":[155],"proposed":[156],"adaptive":[157],"loss":[158],"function.":[159],"This":[160],"function":[161],"tailored":[163],"quality":[167],"incorporates":[172],"graduated":[173],"non-convexity,":[174],"thereby":[175],"reducing":[176],"impact":[178],"outliers":[180],"system":[182,253],"accuracy.":[183],"Thirdly,":[184],"to":[185,260],"augment":[186],"precision":[188],"lidar-based":[190],"detection,":[193],"an":[196],"innovative":[197],"3D":[198],"captures":[202],"spatial,":[203],"height,":[204],"intensity":[206],"cloud.":[211],"We":[212],"also":[213,266],"two-stage":[216],"place":[217],"recognition":[218],"module":[219],"synergistically":[221],"combines":[222],"this":[226],"new":[227],"descriptor,":[229],"significantly":[230],"diminishing":[231],"cumulative":[232],"drift.":[233],"Extensive":[234],"experimental":[235],"evaluations":[236],"six":[238],"real-world":[239],"datasets,":[240],"including":[241],"EuRoc,":[242],"KITTI,":[243],"NCLT,":[244],"M2DGR,":[245],"UrbanNav":[246],"UrbanLoco,":[248],"demonstrate":[249],"our":[251,271],"MMF-LVINS":[252],"achieves":[254],"superior":[255],"compared":[259],"state-of-the-art":[262],"methods.":[263],"These":[264],"experiments":[265],"validate":[267],"effectiveness":[269],"advanced":[272],"techniques":[273],"matching,":[277],"optimization,":[280],"enhanced":[282],"detection.":[286]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}