{"id":"https://openalex.org/W4399665678","doi":"https://doi.org/10.1109/tiv.2024.3414852","title":"MM-LINS: A Multi-Map LiDAR-Inertial System for Over-Degenerate Environments","display_name":"MM-LINS: A Multi-Map LiDAR-Inertial System for Over-Degenerate Environments","publication_year":2024,"publication_date":"2024-06-14","ids":{"openalex":"https://openalex.org/W4399665678","doi":"https://doi.org/10.1109/tiv.2024.3414852"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3414852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3414852","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2503.19506","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070954243","display_name":"Yongxin Ma","orcid":"https://orcid.org/0009-0003-8128-418X"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongxin Ma","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0003-8128-418X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100335018","display_name":"Jie Xu","orcid":"https://orcid.org/0000-0002-6846-6734"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Xu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"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, Singapore"],"raw_orcid":"https://orcid.org/0009-0003-1887-6342","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051079436","display_name":"Tian Zhi","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tian Zhi","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102742092","display_name":"Wenlu Yu","orcid":"https://orcid.org/0000-0001-6961-9109"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenlu Yu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002343968","display_name":"Jun Zhou","orcid":"https://orcid.org/0000-0003-1578-9377"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Zhou","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0003-1578-9377","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"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, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7137-4136","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.7952,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.98411788,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"10","issue":"1","first_page":"472","last_page":"482"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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":0.9965000152587891,"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/lidar","display_name":"Lidar","score":0.7120010852813721},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.45865437388420105},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.41579994559288025},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.41050517559051514},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3998553454875946},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3530769944190979},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.28047528862953186},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21851399540901184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17425104975700378}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7120010852813721},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.45865437388420105},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.41579994559288025},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.41050517559051514},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3998553454875946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3530769944190979},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.28047528862953186},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21851399540901184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17425104975700378},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tiv.2024.3414852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3414852","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"},{"id":"pmh:oai:arXiv.org:2503.19506","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.19506","pdf_url":"https://arxiv.org/pdf/2503.19506","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/217977","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/217977","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":{"id":"pmh:oai:arXiv.org:2503.19506","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.19506","pdf_url":"https://arxiv.org/pdf/2503.19506","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W2296228853","https://openalex.org/W2335829695","https://openalex.org/W2419212966","https://openalex.org/W2535547924","https://openalex.org/W2737100565","https://openalex.org/W2745859992","https://openalex.org/W2750632489","https://openalex.org/W2774206966","https://openalex.org/W2890376682","https://openalex.org/W2910489334","https://openalex.org/W2934636458","https://openalex.org/W2964290573","https://openalex.org/W3006503952","https://openalex.org/W3044524345","https://openalex.org/W3089389996","https://openalex.org/W3102327032","https://openalex.org/W3110514869","https://openalex.org/W3129245057","https://openalex.org/W3130321534","https://openalex.org/W3133648073","https://openalex.org/W3159136954","https://openalex.org/W3166634345","https://openalex.org/W3186380594","https://openalex.org/W3189526488","https://openalex.org/W3205380860","https://openalex.org/W3211563383","https://openalex.org/W4205616157","https://openalex.org/W4205726212","https://openalex.org/W4206486921","https://openalex.org/W4210423514","https://openalex.org/W4281682914","https://openalex.org/W4285269741","https://openalex.org/W4285512293","https://openalex.org/W4292544413","https://openalex.org/W4311345521","https://openalex.org/W4312668502","https://openalex.org/W4312929645","https://openalex.org/W4315472332","https://openalex.org/W4321194448","https://openalex.org/W4385834312","https://openalex.org/W4386432142","https://openalex.org/W4386869837","https://openalex.org/W4389665570","https://openalex.org/W4389668085","https://openalex.org/W4390590927","https://openalex.org/W4390905188","https://openalex.org/W4391590977","https://openalex.org/W4391768470","https://openalex.org/W4392972144","https://openalex.org/W4393972742","https://openalex.org/W4394709030","https://openalex.org/W4394746389","https://openalex.org/W6780432285","https://openalex.org/W6838984008","https://openalex.org/W6847316473","https://openalex.org/W6862909742","https://openalex.org/W6863279378","https://openalex.org/W6864340460"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W2382856674"],"abstract_inverted_index":{"SLAM":[0],"plays":[1],"a":[2,66,89,119,148,153,182],"crucial":[3],"role":[4],"in":[5,52,210,220],"automation":[6],"tasks,":[7],"such":[8],"as":[9],"warehouse":[10],"logistics,":[11],"healthcare":[12],"robotics,":[13],"and":[14,39,87,193,209],"restaurant":[15],"delivery.":[16],"These":[17,213],"scenes":[18],"come":[19],"with":[20,30,156],"various":[21],"challenges,":[22],"including":[23],"navigating":[24],"around":[25],"crowds":[26],"of":[27,147,174,218],"people,":[28],"dealing":[29],"flying":[31],"plastic":[32],"bags":[33],"that":[34,151,205],"can":[35,50],"temporarily":[36],"blind":[37],"sensors,":[38],"addressing":[40],"reduced":[41],"LiDAR":[42],"density":[43],"caused":[44],"by":[45],"cooking":[46],"smoke.":[47],"Such":[48],"scenarios":[49],"result":[51],"over-degeneracy,":[53],"causing":[54],"the":[55,72,100,110,129,132,134,157,160,168,172,175,216],"map":[56,102,150,184],"to":[57,114,123,140,166,180,189],"drift.":[58],"To":[59],"address":[60],"this":[61,63],"issue,":[62],"paper":[64],"presents":[65],"multi-map":[67],"LiDAR-inertial":[68],"system":[69,111],"(MM-LINS)":[70],"for":[71,84,93],"first":[73],"time.":[74],"The":[75],"front-end":[76],"employs":[77],"an":[78],"iterated":[79],"error":[80],"state":[81,85],"Kalman":[82],"filter":[83],"estimation":[86],"introduces":[88],"reliable":[90],"evaluation":[91],"strategy":[92,186],"degeneracy":[94],"detection.":[95],"If":[96],"over-degeneracy":[97,221],"is":[98,138,164,187],"detected,":[99],"active":[101,158],"will":[103],"be":[104],"stored":[105],"into":[106],"sleeping":[107,149],"maps.":[108],"Subsequently,":[109],"continuously":[112],"attempts":[113],"construct":[115],"new":[116],"maps":[117],"using":[118],"dynamic":[120],"initialization":[121,126],"method":[122],"ensure":[124],"successful":[125,145],"upon":[127],"leaving":[128],"over-degeneracy.":[130],"Regarding":[131],"back-end,":[133],"Scan":[135],"Context":[136],"descriptor":[137],"utilized":[139,165],"detect":[141],"inter-map":[142],"similarity.":[143],"Upon":[144],"recognition":[146],"shares":[152],"common":[154],"region":[155,163],"map,":[159],"overlapping":[161],"trajectory":[162],"constrain":[167],"positional":[169,192],"transformation":[170],"near":[171],"edge":[173],"prior":[176],"map.":[177],"In":[178],"response":[179],"this,":[181],"constraint-enhanced":[183],"fusion":[185],"proposed":[188],"achieve":[190],"high-precision":[191],"mapping":[194],"results.":[195],"Experiments":[196],"have":[197],"been":[198],"conducted":[199],"separately":[200],"on":[201],"both":[202],"public":[203],"datasets":[204],"exhibited":[206],"over-degenerate":[207],"conditions":[208],"real-world":[211],"environments.":[212],"tests":[214],"demonstrated":[215],"effectiveness":[217],"MM-LINS":[219],"environment.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":7}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}