{"id":"https://openalex.org/W4404177357","doi":"https://doi.org/10.1109/tits.2024.3488288","title":"LIO-LOT: Tightly-Coupled Multi-Object Tracking and LiDAR-Inertial Odometry","display_name":"LIO-LOT: Tightly-Coupled Multi-Object Tracking and LiDAR-Inertial Odometry","publication_year":2024,"publication_date":"2024-11-08","ids":{"openalex":"https://openalex.org/W4404177357","doi":"https://doi.org/10.1109/tits.2024.3488288"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3488288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3488288","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/A5100661812","display_name":"Xingxing Li","orcid":"https://orcid.org/0000-0002-6351-9702"},"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":"Xingxing Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-6351-9702","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034113765","display_name":"Zhuohao Yan","orcid":"https://orcid.org/0009-0003-5458-3256"},"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":"Zhuohao Yan","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0003-5458-3256","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101178257","display_name":"Shaoquan Feng","orcid":"https://orcid.org/0000-0003-1411-0748"},"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":"Shaoquan Feng","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-1411-0748","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084697744","display_name":"Chunxi Xia","orcid":"https://orcid.org/0000-0003-1164-9916"},"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":"Chunxi Xia","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-1164-9916","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053326378","display_name":"Shengyu Li","orcid":"https://orcid.org/0000-0003-4014-2524"},"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":"Shengyu Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-4014-2524","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018496820","display_name":"Yuxuan Zhou","orcid":"https://orcid.org/0000-0002-5261-0009"},"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":"Yuxuan Zhou","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-5261-0009","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, 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":5.284,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.94981407,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"26","issue":"1","first_page":"742","last_page":"756"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9955999851226807,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9883000254631042,"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/odometry","display_name":"Odometry","score":0.899678111076355},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7176324129104614},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6710481643676758},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6435856819152832},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5686908960342407},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5468270182609558},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5452629923820496},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4755637049674988},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.25382667779922485},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21586200594902039},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17812421917915344},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1634025275707245},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15917634963989258},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.05046635866165161}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.899678111076355},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7176324129104614},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6710481643676758},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6435856819152832},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5686908960342407},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5468270182609558},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5452629923820496},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4755637049674988},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.25382667779922485},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21586200594902039},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17812421917915344},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1634025275707245},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15917634963989258},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05046635866165161},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3488288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3488288","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/G338257804","display_name":null,"funder_award_id":"2042024KF0018","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3652066523","display_name":null,"funder_award_id":"2042024KF0018","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4234997300","display_name":null,"funder_award_id":"2023YFB3907100","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8042994362","display_name":null,"funder_award_id":"42425401","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"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W37193316","https://openalex.org/W1232539894","https://openalex.org/W1973080743","https://openalex.org/W2047328415","https://openalex.org/W2112441941","https://openalex.org/W2124781496","https://openalex.org/W2126742341","https://openalex.org/W2150066425","https://openalex.org/W2222512263","https://openalex.org/W2296228853","https://openalex.org/W2745859992","https://openalex.org/W2811184430","https://openalex.org/W2913685494","https://openalex.org/W2938818630","https://openalex.org/W2949708697","https://openalex.org/W2962766617","https://openalex.org/W2965737813","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3034848995","https://openalex.org/W3035574168","https://openalex.org/W3095662029","https://openalex.org/W3127229203","https://openalex.org/W3129245057","https://openalex.org/W3130044230","https://openalex.org/W3130890398","https://openalex.org/W3132607695","https://openalex.org/W3133309409","https://openalex.org/W3136926086","https://openalex.org/W3208007687","https://openalex.org/W4200247830","https://openalex.org/W4200283613","https://openalex.org/W4382203297","https://openalex.org/W4382677697","https://openalex.org/W4383109197","https://openalex.org/W4386076253","https://openalex.org/W4386473483","https://openalex.org/W4386869837","https://openalex.org/W4389318017","https://openalex.org/W4399601374","https://openalex.org/W6778471983","https://openalex.org/W6810527644","https://openalex.org/W6847017582","https://openalex.org/W6852102700"],"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":{"Most":[0],"existing":[1],"LiDAR-Inertial":[2],"odometry":[3],"(LIO)":[4],"systems":[5],"heavily":[6],"depend":[7],"on":[8],"the":[9,105,142,158,171,196,206],"assumption":[10],"of":[11,30,124,144,161,185,215,227],"a":[12,51,69,87,151],"static":[13,137],"environment,":[14],"which":[15,174],"hinders":[16],"their":[17],"ability":[18],"to":[19,140,169],"effectively":[20],"utilize":[21],"dynamic":[22,223],"objects":[23,32,80,107,125,147,165],"in":[24,183,213,221],"enhancing":[25,180],"localization.":[26],"Furthermore,":[27],"accurate":[28],"tracking":[29,57,100],"surrounding":[31],"is":[33,66,192],"crucial":[34],"for":[35],"emerging":[36],"applications,":[37],"such":[38],"as":[39],"autonomous":[40],"driving":[41],"and":[42,55,95,102,114,136,148,163,198,217,229],"multi-robot":[43],"collaboration.":[44],"To":[45],"this":[46,119],"end,":[47],"we":[48],"present":[49],"LIO-LOT,":[50],"tightly":[52],"coupled":[53,128],"LiDAR-inertial":[54],"multi-object":[56,218],"(MOT)":[58],"system.":[59],"In":[60],"our":[61],"system,":[62],"each":[63],"movable":[64],"object":[65,76,187],"represented":[67],"by":[68],"3-D":[70],"bounding":[71],"box,":[72],"derived":[73],"from":[74],"an":[75],"detector.":[77],"Subsequently,":[78],"these":[79,121],"are":[81,108,126,166,175],"associated":[82,106],"with":[83,129,178,225],"historical":[84],"trajectories":[85],"through":[86],"hybrid":[88],"information":[89,160],"matching":[90],"strategy":[91],"that":[92,205],"integrates":[93],"detections":[94],"geometric":[96],"feature":[97],"information.":[98],"Considering":[99],"continuity":[101],"motion":[103],"consistency,":[104],"further":[109],"categorized":[110],"into":[111],"high-confidence":[112],"ones":[113],"low-confidence":[115,164],"ones.":[116],"Building":[117],"upon":[118],"foundation,":[120],"two":[122],"categories":[123],"flexibly":[127],"inertial":[130],"measurement":[131],"unit":[132],"(IMU)":[133],"pre-integration":[134],"measurements":[135],"scene":[138],"structures":[139],"optimize":[141],"poses":[143],"both":[145],"tracked":[146],"ego-vehicle":[149],"under":[150],"factor":[152],"graph":[153],"optimization":[154],"framework.":[155],"For":[156],"implementation,":[157],"aggregated":[159],"high-":[162],"fully":[167],"leveraged":[168],"form":[170],"object-related":[172],"factors,":[173],"hierarchically":[176],"optimized":[177],"LIO,":[179],"system":[181,208],"stability":[182],"cases":[184],"poor":[186],"detections.":[188],"The":[189],"system\u2019s":[190],"performance":[191],"extensively":[193],"evaluated":[194],"using":[195],"KITTI":[197],"nuScenes":[199],"datasets.":[200],"Experimental":[201],"results":[202],"explicitly":[203],"demonstrate":[204],"proposed":[207],"outperforms":[209],"other":[210],"state-of-the-art":[211],"methods":[212],"terms":[214],"ego-localization":[216],"tracking,":[219],"particularly":[220],"highly":[222],"scenarios":[224],"situations":[226],"occlusion":[228],"truncation.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}