{"id":"https://openalex.org/W4210423514","doi":"https://doi.org/10.1109/tro.2022.3141876","title":"FAST-LIO2: Fast Direct LiDAR-Inertial Odometry","display_name":"FAST-LIO2: Fast Direct LiDAR-Inertial Odometry","publication_year":2022,"publication_date":"2022-01-31","ids":{"openalex":"https://openalex.org/W4210423514","doi":"https://doi.org/10.1109/tro.2022.3141876"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3141876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3141876","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/A5040761750","display_name":"Wei Xu","orcid":"https://orcid.org/0000-0001-8005-4372"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wei Xu","raw_affiliation_strings":["Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-8005-4372","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102243833","display_name":"Yixi Cai","orcid":"https://orcid.org/0000-0003-0321-1164"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yixi Cai","raw_affiliation_strings":["Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-0321-1164","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016633668","display_name":"Dongjiao He","orcid":"https://orcid.org/0000-0003-0131-061X"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Dongjiao He","raw_affiliation_strings":["Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-0131-061X","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086150473","display_name":"Jiarong Lin","orcid":"https://orcid.org/0000-0001-9954-6158"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiarong Lin","raw_affiliation_strings":["Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-9954-6158","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100460011","display_name":"Fu Zhang","orcid":"https://orcid.org/0000-0002-8636-4168"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fu Zhang","raw_affiliation_strings":["Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-8636-4168","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":808.2244,"has_fulltext":false,"cited_by_count":1456,"citation_normalized_percentile":{"value":1.0,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"38","issue":"4","first_page":"2053","last_page":"2073"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9965999722480774,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9890999794006348,"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/odometry","display_name":"Odometry","score":0.6610714197158813},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6330864429473877},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6224488019943237},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5989894866943359},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5744329690933228},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4809507727622986},{"id":"https://openalex.org/keywords/upsampling","display_name":"Upsampling","score":0.44934332370758057},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3564339876174927},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.35528630018234253},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3427472710609436},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22612810134887695},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.18463337421417236},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14384448528289795},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09562557935714722},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.0876016914844513},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08562874794006348}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6610714197158813},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6330864429473877},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6224488019943237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5989894866943359},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5744329690933228},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4809507727622986},{"id":"https://openalex.org/C110384440","wikidata":"https://www.wikidata.org/wiki/Q1143270","display_name":"Upsampling","level":3,"score":0.44934332370758057},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3564339876174927},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35528630018234253},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3427472710609436},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22612810134887695},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.18463337421417236},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14384448528289795},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09562557935714722},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0876016914844513},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08562874794006348},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2022.3141876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3141876","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:1783.1-157021","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-157021","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":71,"referenced_works":["https://openalex.org/W127380945","https://openalex.org/W1567242735","https://openalex.org/W1576347849","https://openalex.org/W1627400044","https://openalex.org/W1650711021","https://openalex.org/W1650975994","https://openalex.org/W1968301997","https://openalex.org/W1968315983","https://openalex.org/W1968917201","https://openalex.org/W1970504153","https://openalex.org/W2024668293","https://openalex.org/W2056478652","https://openalex.org/W2064451896","https://openalex.org/W2065795466","https://openalex.org/W2074954154","https://openalex.org/W2103420503","https://openalex.org/W2105824580","https://openalex.org/W2118269922","https://openalex.org/W2139137304","https://openalex.org/W2144594079","https://openalex.org/W2145178709","https://openalex.org/W2151135734","https://openalex.org/W2152864241","https://openalex.org/W2153226019","https://openalex.org/W2154844948","https://openalex.org/W2165558283","https://openalex.org/W2296228853","https://openalex.org/W2335829695","https://openalex.org/W2406067508","https://openalex.org/W2482726005","https://openalex.org/W2532040979","https://openalex.org/W2545201814","https://openalex.org/W2564632156","https://openalex.org/W2587415290","https://openalex.org/W2730541762","https://openalex.org/W2745859992","https://openalex.org/W2903506349","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2963706662","https://openalex.org/W2976327573","https://openalex.org/W3007240855","https://openalex.org/W3017763864","https://openalex.org/W3043971245","https://openalex.org/W3089389996","https://openalex.org/W3089503906","https://openalex.org/W3091486995","https://openalex.org/W3095662029","https://openalex.org/W3125449081","https://openalex.org/W3126674423","https://openalex.org/W3127103128","https://openalex.org/W3127512444","https://openalex.org/W3129245057","https://openalex.org/W3130321534","https://openalex.org/W3133216522","https://openalex.org/W3133648073","https://openalex.org/W3133767727","https://openalex.org/W3175468549","https://openalex.org/W3181051035","https://openalex.org/W3182569554","https://openalex.org/W3188485279","https://openalex.org/W4249866455","https://openalex.org/W6628656756","https://openalex.org/W6632464415","https://openalex.org/W6636899560","https://openalex.org/W6636989855","https://openalex.org/W6675606146","https://openalex.org/W6758444058","https://openalex.org/W6768569881","https://openalex.org/W6790061568","https://openalex.org/W6797559646"],"related_works":["https://openalex.org/W2015996585","https://openalex.org/W2168170647","https://openalex.org/W4224913947","https://openalex.org/W813170165","https://openalex.org/W4287365848","https://openalex.org/W2126722086","https://openalex.org/W3127007190","https://openalex.org/W4312559648","https://openalex.org/W3193930761","https://openalex.org/W4313026540"],"abstract_inverted_index":{"This":[0,58],"article":[1],"presents":[2],"FAST-LIO2:":[3],"a":[4,14,76,99,172,184,266],"fast,":[5,29],"robust,":[6,30],"and":[7,31,124,126,142,220,248,255,258,260,278],"versatile":[8,241],"LiDAR-inertial":[9,192],"odometry":[10,219],"framework.":[11],"Building":[12],"on":[13,159,198,288],"highly":[15],"efficient":[16,213],"tightly":[17],"coupled":[18],"iterated":[19],"Kalman":[20],"filter,":[21],"FAST-LIO2":[22,178,210,277],"has":[23],"two":[24],"key":[25],"novelties":[26],"that":[27,117],"allow":[28],"accurate":[32],"LiDAR":[33,176],"navigation":[34,193],"(and":[35,48],"mapping).":[36],"The":[37,73],"first":[38],"one":[39],"is":[40,97,211],"directly":[41],"registering":[42],"raw":[43],"points":[44],"to":[45,86,216,238,244],"the":[46,51,60,66,71,93,160,275,279],"map":[47,100],"subsequently":[49],"update":[50],"map,":[52],"i.e.,":[53],"mapping)":[54],"without":[55],"extracting":[56],"features.":[57],"enables":[59,118],"exploitation":[61],"of":[62,75,89,174,204,274],"subtle":[63],"features":[64],"in":[65,168,222,231],"environment":[67],"and,":[68],"hence,":[69],"increases":[70],"accuracy.":[72],"elimination":[74],"hand-engineered":[77],"feature":[78],"extraction":[79],"module":[80],"also":[81,207],"makes":[82],"it":[83],"naturally":[84,156],"adaptable":[85],"emerging":[87],"LiDARs":[88,200],"different":[90],"scanning":[91],"patterns;":[92],"second":[94],"main":[95],"novelty":[96],"maintaining":[98],"by":[101],"an":[102,164],"incremental":[103,109,119],"k-dimensional":[104],"(k-d)":[105],"tree":[106,111],"data":[107,133,280],"structure,":[108],"k-d":[110,146],"(":[112],"<italic":[113,143,148,282],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[114,138,144,149,283],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">ikd-Tree</i>":[115,150,284],"),":[116],"updates":[120],"(i.e.,":[121,242],"point":[122],"insertion":[123],"delete)":[125],"dynamic":[127,132],"rebalancing.":[128],"Compared":[129],"with":[130,201,235],"existing":[131,270],"structures":[134],"(octree,":[135],"R":[136],"<inline-formula":[137],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[139],"notation=\"LaTeX\">$^\\ast$</tex-math></inline-formula>":[140],"-tree,":[141],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">nanoflann</i>":[145],"tree),":[147],"achieves":[151,179],"superior":[152],"overall":[153],"performance":[154],"while":[155,263],"supports":[157],"downsampling":[158],"tree.":[161],"We":[162],"conduct":[163],"exhaustive":[165],"benchmark":[166],"comparison":[167],"19":[169],"sequences":[170],"from":[171],"variety":[173],"open":[175],"datasets.":[177],"consistently":[180],"higher":[181,267],"accuracy":[182,268],"at":[183],"much":[185],"lower":[186],"computation":[187],"load":[188],"than":[189,269],"other":[190],"state-of-the-art":[191],"systems.":[194],"Various":[195],"real-world":[196],"experiments":[197],"solid-state":[199,249],"small":[202],"field":[203],"view":[205],"are":[206,285],"conducted.":[208],"Overall,":[209],"computationally":[212],"(e.g.,":[214,227],"up":[215,237],"100":[217],"Hz":[218],"mapping":[221],"large":[223],"outdoor":[224],"environments),":[225],"robust":[226],"reliable":[228],"pose":[229],"estimation":[230],"cluttered":[232],"indoor":[233],"environments":[234],"rotation":[236],"1000":[239],"deg/s),":[240],"applicable":[243],"both":[245,286],"multiline":[246],"spinning":[247],"LiDARs,":[250],"unmanned":[251],"aerial":[252],"vehicle":[253],"(UAV)":[254],"handheld":[256],"platforms,":[257],"Intel-":[259],"ARM-based":[261],"processors),":[262],"still":[264],"achieving":[265],"methods.":[271],"Our":[272],"implementation":[273],"system":[276],"structure":[281],"open-sourced":[287],"Github.":[289]},"counts_by_year":[{"year":2026,"cited_by_count":185},{"year":2025,"cited_by_count":553},{"year":2024,"cited_by_count":439},{"year":2023,"cited_by_count":219},{"year":2022,"cited_by_count":58},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-20T22:02:38.213706","created_date":"2025-10-10T00:00:00"}