{"id":"https://openalex.org/W4413318925","doi":"https://doi.org/10.1109/tits.2025.3597242","title":"Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment With Progressive Spatial Smoothing","display_name":"Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment With Progressive Spatial Smoothing","publication_year":2025,"publication_date":"2025-08-19","ids":{"openalex":"https://openalex.org/W4413318925","doi":"https://doi.org/10.1109/tits.2025.3597242"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3597242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3597242","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":null,"display_name":"Jianping Li","orcid":"https://orcid.org/0000-0003-4813-5126"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jianping Li","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-4813-5126","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084760653","display_name":"Thien\u2010Minh Nguyen","orcid":"https://orcid.org/0000-0003-1315-0967"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Thien-Minh Nguyen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-1315-0967","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045222213","display_name":"Muqing Cao","orcid":"https://orcid.org/0000-0002-5867-5049"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Muqing Cao","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5867-5049","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026848789","display_name":"Shenghai Yuan","orcid":"https://orcid.org/0009-0003-1887-6342"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shenghai Yuan","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0009-0003-1887-6342","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108726239","display_name":"Tzu-Yi Hung","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135922","display_name":"Delta Electronics (China)","ror":"https://ror.org/04s3g5933","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210129657","https://openalex.org/I4210135922"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tzu-Yi Hung","raw_affiliation_strings":["Delta Research Center, Delta Electronics, 17 Kallang Junction, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delta Research Center, Delta Electronics, 17 Kallang Junction, Singapore","institution_ids":["https://openalex.org/I4210135922"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7137-4136","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6464,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.93225015,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"26","issue":"11","first_page":"19076","last_page":"19091"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9969000220298767,"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"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9969000220298767,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9926999807357788,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9919000267982483,"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/smoothing","display_name":"Smoothing","score":0.8118436336517334},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6550186276435852},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.616888701915741},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5346032381057739},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.42255374789237976},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33526819944381714},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2954152822494507},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2616383135318756},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.260991632938385},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.17389485239982605},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.17011648416519165},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.08231666684150696}],"concepts":[{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.8118436336517334},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6550186276435852},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.616888701915741},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5346032381057739},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.42255374789237976},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33526819944381714},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2954152822494507},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2616383135318756},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.260991632938385},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.17389485239982605},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.17011648416519165},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.08231666684150696},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2025.3597242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3597242","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"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/217973","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/217973","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1680189815","https://openalex.org/W1976905874","https://openalex.org/W2010473040","https://openalex.org/W2073924329","https://openalex.org/W2106683083","https://openalex.org/W2131681506","https://openalex.org/W2137531922","https://openalex.org/W2150981915","https://openalex.org/W2286267957","https://openalex.org/W2296228853","https://openalex.org/W2612396111","https://openalex.org/W2735595030","https://openalex.org/W2849000462","https://openalex.org/W2940793188","https://openalex.org/W3007240855","https://openalex.org/W3110163271","https://openalex.org/W3117476483","https://openalex.org/W3128297283","https://openalex.org/W3133767727","https://openalex.org/W3157804349","https://openalex.org/W4200329182","https://openalex.org/W4210423514","https://openalex.org/W4221150082","https://openalex.org/W4249866455","https://openalex.org/W4292070111","https://openalex.org/W4317796409","https://openalex.org/W4319081557","https://openalex.org/W4365421208","https://openalex.org/W4376466763","https://openalex.org/W4385569538","https://openalex.org/W4386066503","https://openalex.org/W4387204282","https://openalex.org/W4389819300","https://openalex.org/W4391270188","https://openalex.org/W4394593480","https://openalex.org/W4394746389","https://openalex.org/W4400228859","https://openalex.org/W4400269312","https://openalex.org/W4404534413","https://openalex.org/W4405489826","https://openalex.org/W4405785620","https://openalex.org/W4407874067"],"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/W4226363941"],"abstract_inverted_index":{"Large-scale":[0],"LiDAR":[1,71,76],"Bundle":[2],"Adjustment":[3],"(LBA)":[4],"to":[5,78,138,173,185,209],"refine":[6],"sensor":[7],"orientation":[8],"and":[9,26,34,43,54,106,118,182],"point":[10,215],"cloud":[11,216],"accuracy":[12],"simultaneously":[13],"for":[14,90,175,192,220],"building":[15],"navigation":[16,55],"maps":[17,217],"is":[18],"a":[19,47,126],"fundamental":[20],"task":[21],"in":[22,50,110,224,235],"logistics,":[23],"intelligent":[24,237],"transportation,":[25],"robotics.":[27],"In":[28],"the":[29,37,111,151,157,170,187,213,229],"context":[30],"of":[31,232],"autonomous":[32],"delivery":[33,223],"smart":[35],"mobility,":[36],"3D":[38],"map":[39],"obtained":[40,155],"by":[41,156,201],"accurate":[42],"robust":[44],"LBA":[45,73,95],"plays":[46],"pivotal":[48],"role":[49],"enabling":[51],"reliable":[52],"localization":[53],"across":[56,197],"complex,":[57],"large-scale":[58,188,225],"urban":[59],"environments.":[60],"Unlike":[61],"pose-graph-based":[62],"methods":[63,96],"that":[64],"rely":[65],"solely":[66],"on":[67],"pairwise":[68],"relationships":[69],"between":[70],"frames,":[72],"leverages":[74],"raw":[75],"correspondences":[77],"achieve":[79],"more":[80],"precise":[81],"results,":[82],"especially":[83],"when":[84],"initial":[85],"pose":[86],"estimates":[87],"are":[88,218],"unreliable":[89],"low-cost":[91],"sensors.":[92],"However,":[93],"existing":[94,210],"face":[97],"challenges":[98],"such":[99],"as":[100],"simplistic":[101],"planar":[102],"correspondences,":[103],"extensive":[104],"observations,":[105],"dense":[107],"normal":[108],"matrices":[109],"least-squares":[112],"problem,":[113],"which":[114],"limit":[115],"robustness,":[116],"efficiency,":[117],"scalability.":[119],"To":[120],"address":[121],"these":[122],"issues,":[123],"we":[124],"propose":[125],"Graph":[127,162],"Optimality-aware":[128,163],"Stochastic":[129,164],"Optimization":[130,165],"scheme":[131],"with":[132],"Progressive":[133,142],"Spatial":[134,143],"Smoothing,":[135],"namely":[136],"PSS-GOSO,":[137],"achieverobust,efficient,":[139],"andscalableLBA.":[140],"The":[141,161,240],"Smoothing":[144],"(PSS)":[145],"module":[146,167],"extractsrobustLiDAR":[147],"feature":[148],"association":[149],"exploiting":[150],"prior":[152],"structure":[153],"information":[154],"polynomial":[158],"smooth":[159],"kernel.":[160],"(GOSO)":[166],"first":[168],"sparsifies":[169],"graph":[171,183],"according":[172],"optimality":[174],"anefficientoptimization.":[176],"GOSO":[177],"then":[178],"utilizes":[179],"stochastic":[180],"clustering":[181],"marginalization":[184],"solve":[186],"state":[189],"estimation":[190],"problem":[191],"ascalableLBA.":[193],"We":[194],"validate":[195],"PSS-GOSO":[196],"diverse":[198],"scenes":[199],"captured":[200],"various":[202],"platforms,":[203],"demonstrating":[204],"its":[205],"superior":[206],"performance":[207],"compared":[208],"methods.":[211],"Moreover,":[212],"resulting":[214],"used":[219],"automatic":[221],"last-mile":[222],"complex":[226],"scenes,":[227],"showcasing":[228],"practical":[230],"benefits":[231],"our":[233],"method":[234],"modern":[236],"transportation":[238],"systems.":[239],"project":[241],"page":[242],"can":[243],"be":[244],"found":[245],"at:https://kafeiyin00.github.io/PSS-GOSO/":[246]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}