{"id":"https://openalex.org/W4361803767","doi":"https://doi.org/10.1109/tpami.2023.3262817","title":"SDV-LOAM: Semi-Direct Visual\u2013LiDAR Odometry and Mapping","display_name":"SDV-LOAM: Semi-Direct Visual\u2013LiDAR Odometry and Mapping","publication_year":2023,"publication_date":"2023-03-29","ids":{"openalex":"https://openalex.org/W4361803767","doi":"https://doi.org/10.1109/tpami.2023.3262817","pmid":"https://pubmed.ncbi.nlm.nih.gov/37030871"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2023.3262817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2023.3262817","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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":true,"raw_author_name":"Zikang Yuan","raw_affiliation_strings":["Institute of Artificial Intelligence, Huazhong University of Science and Technology, Wuhan, China"],"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/A5102808778","display_name":"Qingjie Wang","orcid":"https://orcid.org/0009-0002-4480-6287"},"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":"Qingjie Wang","raw_affiliation_strings":["Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103164274","display_name":"Ken Cheng","orcid":"https://orcid.org/0009-0005-2487-3302"},"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":"Ken Cheng","raw_affiliation_strings":["Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048029092","display_name":"Tianyu Hao","orcid":"https://orcid.org/0000-0001-6121-5898"},"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":"Tianyu Hao","raw_affiliation_strings":["Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"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"],"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":5,"corresponding_author_ids":["https://openalex.org/A5029784526"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":41.1675,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.9980008,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"45","issue":"9","first_page":"11203","last_page":"11220"},"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":0.9993000030517578,"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":0.9970999956130981,"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":0.8294699192047119},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7801239490509033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7722394466400146},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7105270624160767},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7032516002655029},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6078386902809143},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.596889853477478},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4172900319099426},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3685051202774048},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.178021639585495},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15789633989334106},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10372641682624817}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8294699192047119},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7801239490509033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7722394466400146},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7105270624160767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7032516002655029},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6078386902809143},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.596889853477478},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4172900319099426},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3685051202774048},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.178021639585495},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15789633989334106},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10372641682624817}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tpami.2023.3262817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2023.3262817","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:37030871","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37030871","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on pattern analysis and machine intelligence","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7900000214576721,"display_name":"Peace, Justice and strong institutions"}],"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/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/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":44,"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/W1970504153","https://openalex.org/W2051610568","https://openalex.org/W2059470495","https://openalex.org/W2064451896","https://openalex.org/W2150066425","https://openalex.org/W2193043285","https://openalex.org/W2218842719","https://openalex.org/W2277848489","https://openalex.org/W2296228853","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2564632156","https://openalex.org/W2565029242","https://openalex.org/W2745859992","https://openalex.org/W2798786289","https://openalex.org/W2805521962","https://openalex.org/W2886968365","https://openalex.org/W2888422218","https://openalex.org/W2909908358","https://openalex.org/W2950989657","https://openalex.org/W2963562098","https://openalex.org/W2963600667","https://openalex.org/W2964794620","https://openalex.org/W3011465262","https://openalex.org/W3043971245","https://openalex.org/W3090894413","https://openalex.org/W3090923812","https://openalex.org/W3100687815","https://openalex.org/W3102327032","https://openalex.org/W3104842437","https://openalex.org/W3129245057","https://openalex.org/W3196813118","https://openalex.org/W3201611430","https://openalex.org/W3203066970","https://openalex.org/W3203597819","https://openalex.org/W3207826836","https://openalex.org/W4295719664","https://openalex.org/W6745935785","https://openalex.org/W6800446943"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2739701376","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W4212966960"],"abstract_inverted_index":{"Visual-LiDAR":[0],"odometry":[1,78,84,242,256,262,272,287],"and":[2,12,21,25,43,51,79,91,231,273,308],"mapping":[3],"(V-LOAM),":[4],"which":[5,73,150,180,213,258,302],"fuses":[6],"complementary":[7],"information":[8],"of":[9,62,101,120,142,197,219,239,282,317,323],"a":[10,13,75,132,143,208,235,295,305],"camera":[11,229],"LiDAR,":[14],"is":[15,151],"an":[16,80,147,175],"attractive":[17],"solution":[18],"for":[19,114,320],"accurate":[20],"robust":[22],"pose":[23,164,192],"estimation":[24,165],"mapping.":[26],"However,":[27],"existing":[28,284],"systems":[29],"could":[30],"suffer":[31],"nontrivial":[32],"tracking":[33,96],"errors":[34,90],"arising":[35],"from":[36],"1)":[37],"association":[38],"between":[39,124],"3D":[40,109],"LiDAR":[41,83,110,172,220,241,286],"points":[42,111,141],"sparse":[44],"2D":[45],"features":[46],"(i.e.,":[47],"3D-2D":[48],"depth":[49],"association)":[50],"2)":[52],"obvious":[53],"drifts":[54,166],"in":[55,59,92,127,167,200,232,243,299],"the":[56,60,88,118,128,154,163,168,195,201,216,224,228,240,254,280,314,321,324],"vertical":[57,169,202],"direction":[58],"6-degree":[61],"freedom":[63],"(DOF)":[64],"sweep-to-map":[65,82,177,276],"optimization.":[66],"In":[67,204,264],"this":[68],"paper,":[69],"we":[70,130,206,290],"present":[71],"SDV-LOAM":[72,103,250,293,319],"incorporates":[74],"semi-direct":[76],"visual":[77,99,267,271],"adaptive":[81,176,275],"to":[85,139,146,153,157,183,194,223],"effectively":[86],"avoid":[87,117],"above-mentioned":[89],"turn":[93,233],"achieve":[94],"high":[95,236,306],"accuracy.":[97],"The":[98],"module":[100,173,268],"our":[102,171,249,266,274,292,318],"directly":[104],"extracts":[105],"high-gradient":[106],"pixels":[107],"where":[108],"project":[112],"on":[113,253,294],"tracking.":[115],"To":[116,161],"problem":[119],"large":[121],"scale":[122,159],"difference":[123],"matching":[125,135],"frames":[126],"VO,":[129],"design":[131],"novel":[133,209],"point":[134,221],"with":[136],"propagation":[137],"method":[138,179,212],"propagate":[140],"host":[144],"frame":[145,156],"intermediate":[148],"keyframe":[149],"closer":[152],"current":[155],"reduce":[158,162],"differences.":[160],"direction,":[170],"employs":[174],"optimization":[178,277],"automatically":[181],"choose":[182],"optimize":[184],"3":[185],"horizontal":[186],"DOF":[187,191],"or":[188],"6":[189],"full":[190],"according":[193],"richness":[196],"geometric":[198],"constraints":[199],"direction.":[203],"addition,":[205,265],"propose":[207],"sweep":[210],"reconstruction":[211],"can":[214,278],"increase":[215],"input":[217],"frequency":[218,226,237],"clouds":[222],"same":[225],"as":[227],"images,":[230],"yield":[234],"output":[238,309],"theory.":[244],"Experimental":[245],"results":[246],"demonstrate":[247,291],"that":[248],"ranks":[251],"8th":[252],"KITTI":[255],"benchmark":[257],"outperforms":[259,269],"most":[260],"LiDAR/visual-LiDAR":[261],"systems.":[263,288],"state-of-the-art":[270],"improve":[279],"performance":[281],"several":[283],"open-sourced":[285],"Moreover,":[289],"custom-built":[296],"hardware":[297],"platform":[298],"large-scale":[300],"environments":[301],"achieves":[303],"both":[304],"accuracy":[307],"frequency.":[310],"We":[311],"have":[312],"released":[313],"source":[315],"code":[316],"development":[322],"community.":[325]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":11}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
