{"id":"https://openalex.org/W4327523716","doi":"https://doi.org/10.1109/tmm.2023.3252161","title":"CR-LDSO: Direct Sparse LiDAR-Assisted Visual Odometry With Cloud Reusing","display_name":"CR-LDSO: Direct Sparse LiDAR-Assisted Visual Odometry With Cloud Reusing","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4327523716","doi":"https://doi.org/10.1109/tmm.2023.3252161"},"language":"en","primary_location":{"id":"doi:10.1109/tmm.2023.3252161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmm.2023.3252161","pdf_url":null,"source":{"id":"https://openalex.org/S137030581","display_name":"IEEE Transactions on Multimedia","issn_l":"1520-9210","issn":["1520-9210","1941-0077"],"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 Multimedia","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/A5029784526","display_name":"Zikang Yuan","orcid":"https://orcid.org/0000-0003-0066-3325"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zikang Yuan","raw_affiliation_strings":["Institute of Artificial Intelligence, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060397815","display_name":"Junda Cheng","orcid":"https://orcid.org/0009-0002-2946-9876"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junda Cheng","raw_affiliation_strings":["Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088751649","display_name":"Xin Yang","orcid":"https://orcid.org/0000-0001-6252-1061"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Yang","raw_affiliation_strings":["Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-6252-1061","affiliations":[{"raw_affiliation_string":"Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.0293,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96098116,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"25","issue":null,"first_page":"9397","last_page":"9409"},"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":0.9991000294685364,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.9266481399536133},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8030086755752563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.783123791217804},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7389737963676453},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7323963642120361},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.6308797001838684},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.47675949335098267},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13308793306350708}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9266481399536133},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8030086755752563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.783123791217804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7389737963676453},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7323963642120361},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.6308797001838684},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.47675949335098267},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13308793306350708}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tmm.2023.3252161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmm.2023.3252161","pdf_url":null,"source":{"id":"https://openalex.org/S137030581","display_name":"IEEE Transactions on Multimedia","issn_l":"1520-9210","issn":["1520-9210","1941-0077"],"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 Multimedia","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2157765739","display_name":null,"funder_award_id":"62061160490","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2315720806","display_name":null,"funder_award_id":"62122029","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4935021793","display_name":null,"funder_award_id":"2020010601012167","funder_id":"https://openalex.org/F4320316065","funder_display_name":"Applied Fundamental Research of Wuhan"},{"id":"https://openalex.org/G7975452587","display_name":null,"funder_award_id":"U20B2064","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320316065","display_name":"Applied Fundamental Research of Wuhan","ror":null},{"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":31,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1491059241","https://openalex.org/W1512698229","https://openalex.org/W1612997784","https://openalex.org/W1661995841","https://openalex.org/W2021014642","https://openalex.org/W2031672365","https://openalex.org/W2059470495","https://openalex.org/W2075500716","https://openalex.org/W2150066425","https://openalex.org/W2193043285","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2738596250","https://openalex.org/W2745859992","https://openalex.org/W2885010430","https://openalex.org/W2886968365","https://openalex.org/W2941243189","https://openalex.org/W2950989657","https://openalex.org/W2963562098","https://openalex.org/W2964794620","https://openalex.org/W2981489923","https://openalex.org/W3043971245","https://openalex.org/W3044149300","https://openalex.org/W3090894413","https://openalex.org/W3098710403","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3152953802","https://openalex.org/W3201611430","https://openalex.org/W3203597819"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W3011451421","https://openalex.org/W2012196540","https://openalex.org/W196913356"],"abstract_inverted_index":{"LiDAR-assisted":[0,16,69],"visual":[1],"odometry":[2],"(VO)":[3],"is":[4],"a":[5,46,66,77,118],"widely-used":[6],"solution":[7],"for":[8,32],"pose":[9],"estimation":[10],"and":[11,28,41,48,50,92,99,117],"mapping.":[12],"However,":[13],"most":[14],"existing":[15,139],"VO":[17,70],"systems":[18],"could":[19],"suffer":[20],"from":[21,114],"the":[22,36,72,88,93,132,138],"problems":[23],"of":[24,38,95,134],"1)":[25,76],"lacking":[26],"distinctive":[27],"evenly":[29],"distributed":[30],"pixels":[31,98,108],"tracking":[33,97],"due":[34,109],"to":[35,85,105,110,137],"sparsity":[37],"LiDAR":[39,56],"points":[40],"limited":[42],"FOV":[43,90],"overlap":[44,91],"between":[45],"camera":[47],"LiDAR,":[49],"2)":[51,100],"nontrivial":[52],"errors":[53],"when":[54],"processing":[55],"point":[57,83,119],"clouds.":[58],"To":[59],"address":[60],"above":[61],"problems,":[62],"we":[63],"present":[64],"CR-LDSO,":[65],"direct":[67],"sparse":[68],"with":[71,82],"core":[73],"parts":[74],"being:":[75],"novel":[78],"cloud":[79],"reusing":[80],"method":[81,104,136],"extraction/re-extraction":[84],"increase":[86],"both":[87],"camera-LiDAR":[89],"number":[94],"high-quality":[96],"an":[101],"occlusion":[102],"removal":[103],"exclude":[106],"mismatching":[107],"occluded":[111],"3D":[112],"object":[113],"sliding-window":[115],"optimization":[116],"extraction":[120],"strategy":[121],"without":[122],"depth":[123],"interpolation.":[124],"Extensive":[125],"experimental":[126],"results":[127],"on":[128],"public":[129],"datasets":[130],"demonstrates":[131],"superiority":[133],"our":[135],"state-of-the-art":[140],"methods.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
