{"id":"https://openalex.org/W3171246200","doi":"https://doi.org/10.1109/tro.2021.3078287","title":"Robust Odometry and Mapping for Multi-LiDAR Systems With Online Extrinsic Calibration","display_name":"Robust Odometry and Mapping for Multi-LiDAR Systems With Online Extrinsic Calibration","publication_year":2021,"publication_date":"2021-05-28","ids":{"openalex":"https://openalex.org/W3171246200","doi":"https://doi.org/10.1109/tro.2021.3078287","mag":"3171246200"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3078287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3078287","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5048730226","display_name":"Jianhao Jiao","orcid":"https://orcid.org/0000-0001-7372-266X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jianhao Jiao","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-7372-266X","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101780377","display_name":"Haoyang Ye","orcid":"https://orcid.org/0000-0003-1744-0902"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Haoyang Ye","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-1744-0902","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067350621","display_name":"Yilong Zhu","orcid":"https://orcid.org/0000-0001-5332-0794"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yilong Zhu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-4500-238X","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":104.3686,"has_fulltext":false,"cited_by_count":125,"citation_normalized_percentile":{"value":0.99947082,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"38","issue":"1","first_page":"351","last_page":"371"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9965000152587891,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7820935249328613},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7449246644973755},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7429764270782471},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6971747875213623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6844245195388794},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6328065991401672},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6069421768188477},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5508197546005249},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.4662887752056122},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.422288715839386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31755030155181885},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3061458468437195},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24827975034713745},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11753273010253906},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11148414015769958}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7820935249328613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7449246644973755},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7429764270782471},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6971747875213623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6844245195388794},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6328065991401672},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6069421768188477},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5508197546005249},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.4662887752056122},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.422288715839386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31755030155181885},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3061458468437195},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24827975034713745},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11753273010253906},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11148414015769958},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2021.3078287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3078287","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-111287","is_oa":false,"landing_page_url":"https://repository.hkust.edu.hk/ir/Record/1783.1-111287","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"},{"id":"pmh:oai:repository.ust.hk:1783.1-111287","is_oa":false,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-111287","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":93,"referenced_works":["https://openalex.org/W1131710387","https://openalex.org/W1551362180","https://openalex.org/W1953793983","https://openalex.org/W1995443731","https://openalex.org/W2023269976","https://openalex.org/W2023513943","https://openalex.org/W2036895101","https://openalex.org/W2054804188","https://openalex.org/W2085280799","https://openalex.org/W2086325065","https://openalex.org/W2127752689","https://openalex.org/W2131439959","https://openalex.org/W2144491133","https://openalex.org/W2148420507","https://openalex.org/W2152864241","https://openalex.org/W2155653863","https://openalex.org/W2167340365","https://openalex.org/W2169901455","https://openalex.org/W2275872821","https://openalex.org/W2294454324","https://openalex.org/W2296228853","https://openalex.org/W2322663700","https://openalex.org/W2336416123","https://openalex.org/W2414309118","https://openalex.org/W2419212966","https://openalex.org/W2461937780","https://openalex.org/W2558027072","https://openalex.org/W2562843573","https://openalex.org/W2565029242","https://openalex.org/W2565954200","https://openalex.org/W2566427421","https://openalex.org/W2738970069","https://openalex.org/W2745007981","https://openalex.org/W2745859992","https://openalex.org/W2768018028","https://openalex.org/W2770866044","https://openalex.org/W2772913126","https://openalex.org/W2773432235","https://openalex.org/W2775801237","https://openalex.org/W2793559583","https://openalex.org/W2803250911","https://openalex.org/W2803993251","https://openalex.org/W2805521962","https://openalex.org/W2887564721","https://openalex.org/W2891440655","https://openalex.org/W2897323976","https://openalex.org/W2909157769","https://openalex.org/W2909908358","https://openalex.org/W2916750400","https://openalex.org/W2938672559","https://openalex.org/W2938818630","https://openalex.org/W2969022059","https://openalex.org/W2969202254","https://openalex.org/W2971159190","https://openalex.org/W2998553944","https://openalex.org/W2999751264","https://openalex.org/W3003277412","https://openalex.org/W3003991701","https://openalex.org/W3004052298","https://openalex.org/W3004274804","https://openalex.org/W3004334518","https://openalex.org/W3006936513","https://openalex.org/W3009618845","https://openalex.org/W3010372490","https://openalex.org/W3011463348","https://openalex.org/W3016404858","https://openalex.org/W3028228043","https://openalex.org/W3035172746","https://openalex.org/W3039808820","https://openalex.org/W3040838455","https://openalex.org/W3086305595","https://openalex.org/W3089503906","https://openalex.org/W3090139470","https://openalex.org/W3090867372","https://openalex.org/W3091486995","https://openalex.org/W3098467253","https://openalex.org/W3103406720","https://openalex.org/W3106084381","https://openalex.org/W3106861319","https://openalex.org/W3124420883","https://openalex.org/W3129124093","https://openalex.org/W3129963119","https://openalex.org/W3131188630","https://openalex.org/W3131641033","https://openalex.org/W3200680488","https://openalex.org/W3205084628","https://openalex.org/W4230766380","https://openalex.org/W4246219036","https://openalex.org/W4249866455","https://openalex.org/W6745830181","https://openalex.org/W6751552112","https://openalex.org/W6776142756","https://openalex.org/W6778471983"],"related_works":["https://openalex.org/W2625455490","https://openalex.org/W4324290685","https://openalex.org/W2972219788","https://openalex.org/W813170165","https://openalex.org/W3112789455","https://openalex.org/W2003315864","https://openalex.org/W2998859698","https://openalex.org/W2785664508","https://openalex.org/W2899307613","https://openalex.org/W2534097725"],"abstract_inverted_index":{"Combining":[0],"multiple":[1,42],"LiDARs":[2],"enables":[3],"a":[4,29,60,66,87,92,103,146],"robot":[5],"to":[6,31,50,73,90,105],"maximize":[7],"its":[8],"perceptual":[9],"awareness":[10],"of":[11,136],"environments":[12],"and":[13,23,34,39,53,62,81,95,107,128,130,149,160],"obtain":[14],"sufficient":[15,99],"measurements,":[16],"which":[17],"is":[18,145],"promising":[19],"for":[20,41,125,152],"simultaneous":[21,35],"localization":[22],"mapping":[24,40,88],"(SLAM).":[25],"This":[26],"article":[27],"proposes":[28],"system":[30,151],"achieve":[32],"robust":[33],"extrinsic":[36,63],"calibration,":[37],"odometry,":[38],"LiDARs.":[43],"Our":[44],"approach":[45],"starts":[46],"with":[47,76,98,102,116],"measurement":[48],"preprocessing":[49],"extract":[51],"edge":[52],"planar":[54],"features":[55,100],"from":[56],"raw":[57],"measurements.":[58],"After":[59],"motion":[61],"initialization":[64],"procedure,":[65],"sliding":[67],"window-based":[68],"multi-LiDAR":[69,154],"odometry":[70],"runs":[71],"onboard":[72],"estimate":[74],"poses":[75,97],"an":[77],"online":[78],"calibration":[79,127],"refinement":[80],"convergence":[82],"identification.":[83],"We":[84,111,139],"further":[85],"develop":[86],"algorithm":[89],"construct":[91],"global":[93],"map":[94],"optimize":[96],"together":[101],"method":[104],"capture":[106],"reduce":[108],"data":[109],"uncertainty.":[110],"validate":[112],"our":[113],"approach\u2019s":[114],"performance":[115],"extensive":[117],"experiments":[118],"on":[119],"10":[120],"sequences":[121],"(4.60-km":[122],"total":[123],"length)":[124],"the":[126,134,137,142],"SLAM":[129],"compare":[131],"it":[132],"against":[133],"state":[135],"art.":[138],"demonstrate":[140],"that":[141],"proposed":[143],"work":[144],"complete,":[147],"robust,":[148],"extensible":[150],"various":[153],"setups.":[155],"The":[156],"source":[157],"code,":[158],"datasets,":[159],"demonstrations":[161],"are":[162],"available":[163],"at:":[164],"<uri":[165],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[166],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://ram-lab.com/file/site/m-loam</uri>":[167],".":[168]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":24},{"year":2024,"cited_by_count":32},{"year":2023,"cited_by_count":33},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}