{"id":"https://openalex.org/W4408594689","doi":"https://doi.org/10.1109/tim.2025.3548196","title":"SE-LIO: Semantic-Enhanced Solid-State-LiDAR\u2013Inertial Odometry for Tree-Rich Environments","display_name":"SE-LIO: Semantic-Enhanced Solid-State-LiDAR\u2013Inertial Odometry for Tree-Rich Environments","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408594689","doi":"https://doi.org/10.1109/tim.2025.3548196"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3548196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3548196","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/A5011391442","display_name":"Tisheng Zhang","orcid":"https://orcid.org/0000-0001-7602-0428"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tisheng Zhang","raw_affiliation_strings":["GNSS Research Center and Hubei Luojia Laboratory, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-7602-0428","affiliations":[{"raw_affiliation_string":"GNSS Research Center and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101886119","display_name":"Linfu Wei","orcid":"https://orcid.org/0000-0001-9002-6391"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linfu Wei","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-9002-6391","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023189251","display_name":"Hailiang Tang","orcid":"https://orcid.org/0000-0002-5224-036X"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hailiang Tang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-5224-036X","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103239466","display_name":"Man Yuan","orcid":"https://orcid.org/0009-0008-5835-9928"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Man Yuan","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0008-5835-9928","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100427865","display_name":"Liqiang Wang","orcid":"https://orcid.org/0000-0002-2437-3077"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liqiang Wang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-2437-3077","affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005541527","display_name":"Xiaoji Niu","orcid":"https://orcid.org/0000-0002-5591-0859"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoji Niu","raw_affiliation_strings":["GNSS Research Center and Hubei Luojia Laboratory, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-5591-0859","affiliations":[{"raw_affiliation_string":"GNSS Research Center and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":1.4914,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.79166849,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"74","issue":null,"first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991000294685364,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.98580002784729,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9800999760627747,"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/odometry","display_name":"Odometry","score":0.800775408744812},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7953634858131409},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5500584244728088},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5483241677284241},{"id":"https://openalex.org/keywords/solid-state","display_name":"Solid-state","score":0.5454128980636597},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.49560582637786865},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.48190051317214966},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4480038583278656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38170650601387024},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3528648614883423},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2640950679779053},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20680171251296997},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18890473246574402},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1695728898048401},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11347535252571106},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09041503071784973}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.800775408744812},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7953634858131409},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5500584244728088},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5483241677284241},{"id":"https://openalex.org/C107814960","wikidata":"https://www.wikidata.org/wiki/Q611957","display_name":"Solid-state","level":2,"score":0.5454128980636597},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.49560582637786865},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.48190051317214966},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4480038583278656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38170650601387024},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3528648614883423},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2640950679779053},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20680171251296997},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18890473246574402},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1695728898048401},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11347535252571106},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09041503071784973},{"id":"https://openalex.org/C61696701","wikidata":"https://www.wikidata.org/wiki/Q770766","display_name":"Engineering physics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3548196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3548196","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/13","display_name":"Climate action","score":0.4300000071525574}],"awards":[{"id":"https://openalex.org/G1949814483","display_name":null,"funder_award_id":"42374034","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G656097986","display_name":null,"funder_award_id":"2024-182","funder_id":"https://openalex.org/F4320325255","funder_display_name":"Ministry of Electronics and Information technology"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320325255","display_name":"Ministry of Electronics and Information technology","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W2000018820","https://openalex.org/W2073429395","https://openalex.org/W2131439959","https://openalex.org/W2296228853","https://openalex.org/W2565029242","https://openalex.org/W2888754481","https://openalex.org/W2909908358","https://openalex.org/W2916628220","https://openalex.org/W2962912109","https://openalex.org/W2998553944","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3012494314","https://openalex.org/W3039448353","https://openalex.org/W3089503906","https://openalex.org/W3095662029","https://openalex.org/W3129245057","https://openalex.org/W3133648073","https://openalex.org/W3205251654","https://openalex.org/W3205534495","https://openalex.org/W3206972718","https://openalex.org/W4210423514","https://openalex.org/W4210444984","https://openalex.org/W4285269741","https://openalex.org/W4285295417","https://openalex.org/W4288062035","https://openalex.org/W4292544413","https://openalex.org/W4360595135","https://openalex.org/W4388240393","https://openalex.org/W4399525953","https://openalex.org/W4402727356","https://openalex.org/W6730037158","https://openalex.org/W6739778489","https://openalex.org/W6783774005","https://openalex.org/W6797028334"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","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/W1964041166","https://openalex.org/W4390887692"],"abstract_inverted_index":{"LiDAR-inertial":[0],"odometry":[1],"(LIO)":[2],"based":[3],"on":[4,135,181],"line":[5],"and":[6,41,70,127,137,143,184,191],"plane":[7],"features":[8],"will":[9],"face":[10],"great":[11],"challenges":[12],"in":[13,32],"environments":[14,105],"abundant":[15],"with":[16,43,75,106,140],"unstructured":[17,63],"features,":[18],"such":[19,66],"as":[20,67,89],"tree-rich":[21,33],"environments.":[22,34],"In":[23],"this":[24],"article,":[25],"we":[26],"propose":[27,97],"a":[28,107],"semantic-enhanced":[29],"solid-state-LIO":[30],"(SE-LIO)":[31],"Multiple":[35],"LiDAR":[36,126],"frames":[37],"are":[38,73,87,133],"first":[39],"merged":[40],"compensated":[42],"the":[44,51,56,62,76,80,148,155,165,170,173,178,182,196,200,206,214],"inertial":[45,128],"navigation":[46],"system":[47],"(INS)":[48],"to":[49,91,103,124,146,164,195],"increase":[50],"point-cloud":[52],"coverage,":[53],"thus":[54],"improving":[55],"accuracy":[57,163,176,208],"of":[58,110,177],"semantic":[59,77,171],"segmentation.":[60],"Then,":[61],"point":[64,82],"clouds,":[65,83],"tree":[68,85,112],"leaves":[69],"dynamic":[71],"objects,":[72],"removed":[74],"information.":[78],"Besides,":[79,199],"pole-like":[81],"primarily":[84],"trunks,":[86],"modeled":[88],"cylinders":[90],"improve":[92],"positioning":[93,207],"accuracy.":[94],"We":[95],"also":[96,210],"an":[98,115],"adaptive":[99,216],"piecewise":[100],"cylinder-fitting":[101],"method":[102],"accommodate":[104],"high":[108],"prevalence":[109],"curved":[111],"trunks.":[113],"Finally,":[114],"efficient":[116],"iterated":[117],"error-state":[118],"Kalman":[119],"filter":[120],"(IESKF)":[121],"is":[122,187,209],"employed":[123],"integrate":[125],"measurements":[129],"tightly.":[130],"Exhaustive":[131],"experiments":[132],"conducted":[134],"public":[136,183],"private":[138,185],"datasets":[139,186],"complex":[141],"campus":[142],"park":[144],"scenes":[145],"evaluate":[147],"proposed":[149,156,179,215],"SE-LIO.":[150],"The":[151],"results":[152,203],"demonstrate":[153],"that":[154,205],"baseline":[157,197],"LIO":[158],"yields":[159],"improved":[160,188,211],"or":[161],"comparable":[162],"state-of-the-art":[166],"methods.":[167],"By":[168],"incorporating":[169],"enhancement,":[172],"absolute":[174],"translation":[175],"SE-LIO":[180],"by":[189,212],"17.1%":[190],"43.1%,":[192],"respectively,":[193],"compared":[194],"system.":[198],"ablation":[201],"experiment":[202],"illustrate":[204],"employing":[213],"cylinder":[217],"fitting.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}