{"id":"https://openalex.org/W4396598924","doi":"https://doi.org/10.1109/tits.2024.3391291","title":"Fast and Robust LiDAR-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels","display_name":"Fast and Robust LiDAR-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels","publication_year":2024,"publication_date":"2024-05-02","ids":{"openalex":"https://openalex.org/W4396598924","doi":"https://doi.org/10.1109/tits.2024.3391291"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3391291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3391291","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5087484426","display_name":"Jun Liu","orcid":"https://orcid.org/0000-0003-4522-5468"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Liu","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-4522-5468","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038287028","display_name":"Yunzhou Zhang","orcid":"https://orcid.org/0000-0003-0610-3732"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhou Zhang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-0610-3732","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5096292795","display_name":"Xiaoyu Zhao","orcid":"https://orcid.org/0000-0002-5220-0288"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyu Zhao","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-5220-0288","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000357143","display_name":"Zhengnan He","orcid":"https://orcid.org/0009-0007-9425-6208"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengnan He","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0009-0007-9425-6208","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008944945","display_name":"Wei Liu","orcid":"https://orcid.org/0000-0002-0623-7178"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Liu","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-0623-7178","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101725013","display_name":"Xiangren Lv","orcid":"https://orcid.org/0009-0008-0959-5780"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangren Lv","raw_affiliation_strings":["Siasun Robot &#x0026; Automation Company Ltd., Shenyang, China"],"raw_orcid":"https://orcid.org/0009-0008-0959-5780","affiliations":[{"raw_affiliation_string":"Siasun Robot &#x0026; Automation Company Ltd., Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.1522,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.9658245,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"25","issue":"10","first_page":"14486","last_page":"14496"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8165632486343384},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7034677267074585},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5820366144180298},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5804786086082458},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.559493362903595},{"id":"https://openalex.org/keywords/iterated-function","display_name":"Iterated function","score":0.5028113722801208},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5008382797241211},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45620298385620117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4313165545463562},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.30070066452026367},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21149221062660217},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.14107641577720642},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0966472327709198},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08236584067344666},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07379207015037537},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.06822076439857483}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8165632486343384},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7034677267074585},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5820366144180298},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5804786086082458},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.559493362903595},{"id":"https://openalex.org/C140479938","wikidata":"https://www.wikidata.org/wiki/Q5254619","display_name":"Iterated function","level":2,"score":0.5028113722801208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5008382797241211},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45620298385620117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4313165545463562},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30070066452026367},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21149221062660217},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.14107641577720642},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0966472327709198},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08236584067344666},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07379207015037537},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.06822076439857483}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3391291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3391291","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4285396571","display_name":null,"funder_award_id":"61973066","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":39,"referenced_works":["https://openalex.org/W2508342311","https://openalex.org/W2518972939","https://openalex.org/W2569273543","https://openalex.org/W2768018028","https://openalex.org/W2909063396","https://openalex.org/W2962987986","https://openalex.org/W2963600667","https://openalex.org/W3043971245","https://openalex.org/W3091486995","https://openalex.org/W3095662029","https://openalex.org/W3129245057","https://openalex.org/W3132401233","https://openalex.org/W3133648073","https://openalex.org/W3181051035","https://openalex.org/W3188358470","https://openalex.org/W3199184510","https://openalex.org/W3199503344","https://openalex.org/W3203066970","https://openalex.org/W3203485577","https://openalex.org/W3205114100","https://openalex.org/W3205534495","https://openalex.org/W3206845495","https://openalex.org/W3207826836","https://openalex.org/W3214208961","https://openalex.org/W4210423514","https://openalex.org/W4226070730","https://openalex.org/W4232464081","https://openalex.org/W4285269741","https://openalex.org/W4285512293","https://openalex.org/W4292544413","https://openalex.org/W4312265650","https://openalex.org/W4385246585","https://openalex.org/W4386869837","https://openalex.org/W4390099907","https://openalex.org/W6724840169","https://openalex.org/W6726652015","https://openalex.org/W6745830181","https://openalex.org/W6758162286","https://openalex.org/W6810916989"],"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/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4221065211"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,60,67,79,109],"fast":[4],"LiDAR-inertial":[5],"odometry":[6],"(LIO)":[7],"that":[8,135,152],"is":[9,180],"robust":[10,16,61],"to":[11,30,43,48,84,149,175],"aggressive":[12,19,143],"motion.":[13],"To":[14],"achieve":[15,139,164],"tracking":[17,141],"in":[18,142,170],"motion":[20,45,144],"scenes,":[21],"we":[22,58,77],"exploit":[23],"the":[24,33,44,50,86,176,184],"continuous":[25],"scanning":[26],"property":[27],"of":[28,52,94],"LiDAR":[29],"adaptively":[31],"divide":[32],"full":[34],"scan":[35],"into":[36,108],"multiple":[37],"partial":[38],"scans":[39],"(named":[40],"sub-frames)":[41],"according":[42],"intensity.":[46],"And":[47],"avoid":[49],"degradation":[51],"sub-frames":[53],"resulting":[54],"from":[55,122],"insufficient":[56],"constraints,":[57],"propose":[59,78],"state":[62,71],"estimation":[63],"method":[64],"based":[65],"on":[66,119],"tightly-coupled":[68],"iterated":[69],"error":[70],"Kalman":[72],"smoother":[73],"(ESKS)":[74],"framework.":[75],"Furthermore,":[76,173],"robocentric":[80],"voxel":[81],"map":[82,95,106],"(RC-Vox)":[83],"improve":[85],"system\u2019s":[87],"efficiency.":[88],"The":[89,132],"RC-Vox":[90],"allows":[91],"efficient":[92,186],"maintenance":[93],"points":[96,107],"and":[97,129],"k":[98],"nearest":[99],"neighbor":[100],"(k-NN)":[101],"queries":[102],"by":[103,156],"mapping":[104],"local":[105],"fixed-size,":[110],"two-layer":[111],"3D":[112],"array":[113],"structure.":[114],"Extensive":[115],"experiments":[116],"are":[117],"conducted":[118],"27":[120],"sequences":[121],"4":[123],"public":[124],"datasets,":[125],"our":[126,136,161,178],"own":[127],"dataset":[128],"real-world":[130],"scenes.":[131,172],"results":[133],"show":[134],"system":[137,162,179,188],"can":[138,163],"stable":[140],"scenes":[145],"(angular":[146],"velocity":[147],"up":[148],"21.8":[150],"rad/s)":[151],"cannot":[153],"be":[154],"handled":[155],"other":[157],"state-of-the-art":[158],"methods,":[159],"while":[160],"competitive":[165],"performance":[166],"with":[167],"these":[168],"methods":[169],"general":[171],"thanks":[174],"RC-Vox,":[177],"much":[181],"faster":[182],"than":[183],"most":[185],"LIO":[187],"currently":[189],"published.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
