{"id":"https://openalex.org/W4285177584","doi":"https://doi.org/10.1109/tiv.2022.3173665","title":"Hierarchical Estimation-Based LiDAR Odometry With Scan-to-Map Matching and Fixed-Lag Smoothing","display_name":"Hierarchical Estimation-Based LiDAR Odometry With Scan-to-Map Matching and Fixed-Lag Smoothing","publication_year":2022,"publication_date":"2022-05-10","ids":{"openalex":"https://openalex.org/W4285177584","doi":"https://doi.org/10.1109/tiv.2022.3173665"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2022.3173665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2022.3173665","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","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/A5069033866","display_name":"Shuang Liang","orcid":"https://orcid.org/0000-0003-4707-6347"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Liang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4707-6347","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044898133","display_name":"Zhiqiang Cao","orcid":"https://orcid.org/0000-0003-1801-3363"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Cao","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1801-3363","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101917948","display_name":"Chengpeng Wang","orcid":"https://orcid.org/0009-0004-1956-4217"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengpeng Wang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex System, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6347-572X","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex System, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.1491,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.97402183,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"8","issue":"2","first_page":"1607","last_page":"1623"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9986000061035156,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9973000288009644,"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":0.8469756841659546},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7107898592948914},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6631588935852051},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6461426019668579},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6050896048545837},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.557952344417572},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4892701804637909},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4665738344192505},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4507163465023041},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.43781012296676636},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2477162778377533},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.128957599401474},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.11533492803573608},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08676046133041382},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07015380263328552}],"concepts":[{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.8469756841659546},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7107898592948914},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6631588935852051},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6461426019668579},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6050896048545837},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.557952344417572},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4892701804637909},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4665738344192505},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4507163465023041},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.43781012296676636},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2477162778377533},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.128957599401474},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.11533492803573608},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08676046133041382},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07015380263328552},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2022.3173665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2022.3173665","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G849802347","display_name":null,"funder_award_id":"62073322","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8732266741","display_name":"\u5ba4\u5185\u6311\u6218\u6027\u73af\u5883\u4e0b\u673a\u5668\u4eba\u89c6\u89c9\u5b9a\u4f4d\u5bfc\u822a\u7406\u8bba\u53ca\u5e94\u7528","funder_award_id":"61836015","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":63,"referenced_works":["https://openalex.org/W1479814506","https://openalex.org/W1883991860","https://openalex.org/W1965851203","https://openalex.org/W1968315983","https://openalex.org/W2012502415","https://openalex.org/W2096020743","https://openalex.org/W2114084853","https://openalex.org/W2144491133","https://openalex.org/W2150066425","https://openalex.org/W2158037930","https://openalex.org/W2161441681","https://openalex.org/W2277848489","https://openalex.org/W2411093439","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2567552762","https://openalex.org/W2737444374","https://openalex.org/W2745859992","https://openalex.org/W2746349752","https://openalex.org/W2766213449","https://openalex.org/W2805521962","https://openalex.org/W2887096906","https://openalex.org/W2890354344","https://openalex.org/W2892930237","https://openalex.org/W2904367728","https://openalex.org/W2908603664","https://openalex.org/W2909908358","https://openalex.org/W2916750400","https://openalex.org/W2938818630","https://openalex.org/W2947723524","https://openalex.org/W2963517005","https://openalex.org/W2963600667","https://openalex.org/W2965555935","https://openalex.org/W2971153498","https://openalex.org/W2981566147","https://openalex.org/W2983104849","https://openalex.org/W3003991701","https://openalex.org/W3007240855","https://openalex.org/W3036513648","https://openalex.org/W3089594064","https://openalex.org/W3092168917","https://openalex.org/W3094513153","https://openalex.org/W3100634571","https://openalex.org/W3102327032","https://openalex.org/W3102369338","https://openalex.org/W3125449081","https://openalex.org/W3127368595","https://openalex.org/W3129245057","https://openalex.org/W3129693044","https://openalex.org/W3131459917","https://openalex.org/W3132394694","https://openalex.org/W3132401233","https://openalex.org/W3133767727","https://openalex.org/W3160534675","https://openalex.org/W3167522598","https://openalex.org/W3174270524","https://openalex.org/W3205251654","https://openalex.org/W3205534495","https://openalex.org/W3206776160","https://openalex.org/W3207941059","https://openalex.org/W4205709873","https://openalex.org/W4213231647","https://openalex.org/W4236769309"],"related_works":["https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W4308497005","https://openalex.org/W2152464524"],"abstract_inverted_index":{"LiDAR":[0,136],"odometry":[1,137],"(LO)":[2],"has":[3],"gained":[4],"popularity":[5],"in":[6,116,153,171],"recent":[7],"years":[8],"due":[9],"to":[10,16,81,85,103],"accurate":[11,191],"depth":[12],"measurement":[13],"and":[14,120,156,163,190,208],"robustness":[15],"illumination.":[17],"Typically,":[18],"the":[19,32,38,87,105,109,126,154,202],"solutions":[20],"based":[21,97],"on":[22,98,201],"scan-to-map":[23,94,118,142],"matching":[24,47,95,119,143,176],"mainly":[25],"optimize":[26],"current":[27],"pose.":[28],"To":[29],"further":[30,65,167],"reduce":[31],"accumulated":[33],"error":[34],"of":[35,51,58,89,146],"pose":[36,145,192],"estimation,":[37],"fixed-lag":[39,59,72,121,165],"smoothing":[40,60,73,122,166],"that":[41],"optimizes":[42,168],"fixed-size":[43],"poses":[44,170],"simultaneously":[45],"by":[46,149,175,199],"corresponding":[48,157],"point":[49],"features":[50,100,152,178],"multiple":[52,180],"frames":[53,181],"becomes":[54],"necessary.":[55],"The":[56],"integration":[57],"with":[61,160,182],"LO":[62,83,128],"still":[63],"needs":[64],"exploration.":[66],"In":[67],"this":[68,131],"paper,":[69],"a":[70,92,133,172,186,188],"general":[71],"module":[74,96],"is":[75,101,114,138,194,197],"proposed,":[76],"which":[77,124,196],"can":[78],"be":[79],"appended":[80],"existing":[82],"framework":[84],"improve":[86],"consistency":[88],"trajectory.":[90],"Also,":[91],"fast":[93,189],"sparse":[99],"developed":[102],"guarantee":[104],"real-time":[106],"performance.":[107],"Besides,":[108],"feature-centric":[110],"feature":[111],"management":[112],"strategy":[113],"adopted":[115],"both":[117],"modules,":[123],"makes":[125],"proposed":[127],"efficient.":[129],"On":[130],"basis,":[132],"hierarchical":[134],"estimation-based":[135],"presented,":[139],"where":[140],"low-level":[141],"estimates":[144],"each":[147],"frame":[148,155],"aligning":[150],"associated":[151,177],"surrounding":[158],"map":[159],"high":[161,183],"efficiency,":[162],"high-level":[164],"keyframe":[169],"sliding":[173],"window":[174],"among":[179],"accuracy.":[184],"As":[185],"result,":[187],"estimation":[193],"achieved,":[195],"verified":[198],"experiments":[200],"KITTI":[203],"dataset,":[204,207],"Newer":[205],"College":[206],"an":[209],"actual":[210],"outdoor":[211],"scenario.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}