{"id":"https://openalex.org/W4407737925","doi":"https://doi.org/10.1109/tits.2024.3524394","title":"A Real-Time Degeneracy Sensing and Compensation Method for Enhanced LiDAR SLAM","display_name":"A Real-Time Degeneracy Sensing and Compensation Method for Enhanced LiDAR SLAM","publication_year":2025,"publication_date":"2025-02-19","ids":{"openalex":"https://openalex.org/W4407737925","doi":"https://doi.org/10.1109/tits.2024.3524394"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3524394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3524394","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/A5111222943","display_name":"Zongbo Liao","orcid":null},"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"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongbo Liao","raw_affiliation_strings":["State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-2630-3670","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728"]},{"raw_affiliation_string":"Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060719453","display_name":"X. Y. Zhang","orcid":"https://orcid.org/0009-0007-1209-5712"},"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"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanxuan Zhang","raw_affiliation_strings":["State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0007-1209-5712","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728"]},{"raw_affiliation_string":"Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tianxiang Zhang","orcid":"https://orcid.org/0009-0001-4784-4548"},"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"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianxiang Zhang","raw_affiliation_strings":["State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0001-4784-4548","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728"]},{"raw_affiliation_string":"Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhi Li","orcid":"https://orcid.org/0009-0008-3264-4966"},"institutions":[{"id":"https://openalex.org/I4210091692","display_name":"Beijing Automation Control Equipment Institute","ror":"https://ror.org/00gvfpz28","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210091692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Li","raw_affiliation_strings":["Beijing Automation Control Equipment Research Institute, CASIC, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-3264-4966","affiliations":[{"raw_affiliation_string":"Beijing Automation Control Equipment Research Institute, CASIC, Beijing, China","institution_ids":["https://openalex.org/I4210091692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011966833","display_name":"Zhenqi Zheng","orcid":"https://orcid.org/0000-0001-9126-3620"},"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"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenqi Zheng","raw_affiliation_strings":["State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-9126-3620","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728"]},{"raw_affiliation_string":"Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026439740","display_name":"Zhichao Wen","orcid":"https://orcid.org/0009-0005-5880-4241"},"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"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhichao Wen","raw_affiliation_strings":["State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0005-5880-4241","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728"]},{"raw_affiliation_string":"Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087608529","display_name":"You Li","orcid":"https://orcid.org/0000-0003-3785-0976"},"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"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"You Li","raw_affiliation_strings":["State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-3785-0976","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Surveying, Mapping and Remote Sensing and Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728"]},{"raw_affiliation_string":"Mapping and Remote Sensing and Hubei Luojia Laboratory, State Key Laboratory of Surveying, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":40.1541,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.99660687,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"26","issue":"3","first_page":"4202","last_page":"4213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"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":0.996999979019165,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9557999968528748,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9495000243186951,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/lidar","display_name":"Lidar","score":0.8197842836380005},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6311137676239014},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5788727402687073},{"id":"https://openalex.org/keywords/degeneracy","display_name":"Degeneracy (biology)","score":0.5567333102226257},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5108106136322021},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44009628891944885},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38695958256721497},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.36493027210235596},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.27652737498283386},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14931851625442505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11647087335586548}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8197842836380005},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6311137676239014},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5788727402687073},{"id":"https://openalex.org/C2777727622","wikidata":"https://www.wikidata.org/wiki/Q5251772","display_name":"Degeneracy (biology)","level":2,"score":0.5567333102226257},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5108106136322021},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44009628891944885},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38695958256721497},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.36493027210235596},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.27652737498283386},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14931851625442505},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11647087335586548},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C60644358","wikidata":"https://www.wikidata.org/wiki/Q128570","display_name":"Bioinformatics","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3524394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3524394","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":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.47999998927116394}],"awards":[{"id":"https://openalex.org/G160814974","display_name":null,"funder_award_id":"42274052","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G341566950","display_name":null,"funder_award_id":"2022YFE0139300","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G489302019","display_name":null,"funder_award_id":"2022YFB3903800","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6997495980","display_name":null,"funder_award_id":"2023YFB3906600","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program 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}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2001496915","https://openalex.org/W2014207207","https://openalex.org/W2100756257","https://openalex.org/W2154844948","https://openalex.org/W2296228853","https://openalex.org/W2406067508","https://openalex.org/W2419212966","https://openalex.org/W2566427421","https://openalex.org/W2737100565","https://openalex.org/W2787197340","https://openalex.org/W2793560929","https://openalex.org/W2805521962","https://openalex.org/W2938818630","https://openalex.org/W2969022059","https://openalex.org/W3004052298","https://openalex.org/W3091486995","https://openalex.org/W3092218351","https://openalex.org/W3112226520","https://openalex.org/W3129245057","https://openalex.org/W3133648073","https://openalex.org/W3154158938","https://openalex.org/W3199184510","https://openalex.org/W3200664388","https://openalex.org/W3206845495","https://openalex.org/W4287009046","https://openalex.org/W4315796538"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W4212966960","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W3196708299","https://openalex.org/W3126674423"],"abstract_inverted_index":{"LiDAR":[0,14,38,119,147],"is":[1,16],"widely":[2],"used":[3],"in":[4,20,24],"Simultaneous":[5],"Localization":[6],"and":[7,10,66,120,136,138,146],"Mapping":[8],"(SLAM)":[9],"autonomous":[11],"driving.":[12],"The":[13],"odometry":[15],"of":[17,36,50,71,88,95],"great":[18],"importance":[19],"multi-sensor":[21,51],"fusion.":[22],"However,":[23],"some":[25],"unstructured":[26],"environments,":[27],"the":[28,34,37,48,69,77,86,91,104,111,132],"point":[29],"cloud":[30],"registration":[31],"cannot":[32],"constrain":[33],"poses":[35],"due":[39],"to":[40,47,64,117,143],"its":[41],"sparse":[42],"geometric":[43],"features,":[44],"which":[45,83],"leads":[46],"degeneracy":[49,70,78,87,105,112,125],"fusion":[52],"accuracy.":[53],"To":[54],"address":[55],"this":[56,74],"problem,":[57],"we":[58],"propose":[59],"a":[60],"novel":[61],"real-time":[62],"approach":[63],"sense":[65],"compensate":[67],"for":[68],"LiDAR.":[72,89],"Firstly,":[73],"paper":[75],"introduces":[76],"factor":[79],"with":[80,97,106],"clear":[81],"meaning,":[82],"can":[84],"measure":[85],"Then,":[90],"Density-Based":[92],"Spatial":[93],"Clustering":[94],"Applications":[96],"Noise":[98],"(DBSCAN)":[99],"clustering":[100],"method":[101],"adaptively":[102],"perceives":[103],"better":[107],"environmental":[108],"generalization.":[109],"Finally,":[110],"perception":[113],"results":[114],"are":[115],"utilized":[116],"fuse":[118],"IMU,":[121],"thus":[122],"effectively":[123],"resisting":[124],"effects.":[126],"Experiments":[127],"on":[128],"our":[129,140],"dataset":[130],"show":[131],"method\u2019s":[133],"high":[134],"accuracy":[135],"robustness":[137],"validate":[139],"algorithm\u2019s":[141],"adaptability":[142],"different":[144],"environments":[145],"scanning":[148],"modalities.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":6}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}
