{"id":"https://openalex.org/W4388145520","doi":"https://doi.org/10.1109/tro.2023.3321227","title":"ImMesh: An Immediate LiDAR Localization and Meshing Framework","display_name":"ImMesh: An Immediate LiDAR Localization and Meshing Framework","publication_year":2023,"publication_date":"2023-11-01","ids":{"openalex":"https://openalex.org/W4388145520","doi":"https://doi.org/10.1109/tro.2023.3321227"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3321227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3321227","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":true,"oa_status":"green","oa_url":"https://hub.hku.hk/handle/10722/339351","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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":true,"raw_author_name":"Jiarong Lin","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041977264","display_name":"Chongjian Yuan","orcid":"https://orcid.org/0000-0002-3741-5993"},"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":"Chongjian Yuan","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The 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":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059591933","display_name":"Haotian Li","orcid":"https://orcid.org/0000-0002-4708-3953"},"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":"Haotian Li","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081404350","display_name":"Yunfan Ren","orcid":"https://orcid.org/0000-0002-5392-8924"},"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":"Yunfan Ren","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011345627","display_name":"Yuying Zou","orcid":"https://orcid.org/0009-0000-3173-3715"},"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":"Yuying Zou","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015852643","display_name":"Xiaoping Hong","orcid":"https://orcid.org/0000-0002-5864-4533"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoping Hong","raw_affiliation_strings":["School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"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":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5086150473"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":29.9821,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.996145,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"39","issue":"6","first_page":"4312","last_page":"4331"},"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":0.9977999925613403,"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":0.9976000189781189,"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/computer-science","display_name":"Computer science","score":0.7434482574462891},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7178406715393066},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7166152000427246},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.6928634643554688},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6599849462509155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.616659939289093},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5510650873184204},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5047627687454224},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.49220767617225647},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.32926177978515625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2378551959991455},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1993943154811859},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.09789761900901794}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7434482574462891},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7178406715393066},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7166152000427246},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.6928634643554688},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6599849462509155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.616659939289093},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5510650873184204},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5047627687454224},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.49220767617225647},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.32926177978515625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2378551959991455},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1993943154811859},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.09789761900901794},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2023.3321227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3321227","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:1783.1-162269","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-162269","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:hub.hku.hk:10722/339351","is_oa":true,"landing_page_url":"https://hub.hku.hk/handle/10722/339351","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:hub.hku.hk:10722/339351","is_oa":true,"landing_page_url":"https://hub.hku.hk/handle/10722/339351","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":84,"referenced_works":["https://openalex.org/W94941688","https://openalex.org/W618254468","https://openalex.org/W1497695555","https://openalex.org/W1542085343","https://openalex.org/W1625949922","https://openalex.org/W1627400044","https://openalex.org/W1751078205","https://openalex.org/W1970883308","https://openalex.org/W1987648924","https://openalex.org/W1992642990","https://openalex.org/W1999793260","https://openalex.org/W2005102720","https://openalex.org/W2031973565","https://openalex.org/W2051200663","https://openalex.org/W2055496835","https://openalex.org/W2071398263","https://openalex.org/W2071906076","https://openalex.org/W2090401423","https://openalex.org/W2120810797","https://openalex.org/W2121535648","https://openalex.org/W2142499637","https://openalex.org/W2142610995","https://openalex.org/W2142792228","https://openalex.org/W2144008209","https://openalex.org/W2150066425","https://openalex.org/W2152770403","https://openalex.org/W2152864241","https://openalex.org/W2250172176","https://openalex.org/W2275738541","https://openalex.org/W2284939270","https://openalex.org/W2302890201","https://openalex.org/W2335829695","https://openalex.org/W2471962767","https://openalex.org/W2527142681","https://openalex.org/W2568940295","https://openalex.org/W2607968634","https://openalex.org/W2615547864","https://openalex.org/W2784112303","https://openalex.org/W2785825007","https://openalex.org/W2805360354","https://openalex.org/W2892904655","https://openalex.org/W2897916980","https://openalex.org/W2938170127","https://openalex.org/W2976327573","https://openalex.org/W2997017298","https://openalex.org/W3049410629","https://openalex.org/W3090386798","https://openalex.org/W3102129812","https://openalex.org/W3109428934","https://openalex.org/W3125164440","https://openalex.org/W3129693044","https://openalex.org/W3132270109","https://openalex.org/W3132921302","https://openalex.org/W3148212283","https://openalex.org/W3159537771","https://openalex.org/W3172610252","https://openalex.org/W3199184510","https://openalex.org/W3206776160","https://openalex.org/W3211071089","https://openalex.org/W3214208961","https://openalex.org/W3217279346","https://openalex.org/W4205944311","https://openalex.org/W4210423514","https://openalex.org/W4211092666","https://openalex.org/W4230061686","https://openalex.org/W4233857083","https://openalex.org/W4242761880","https://openalex.org/W4252017042","https://openalex.org/W4255590625","https://openalex.org/W4285269741","https://openalex.org/W4294891500","https://openalex.org/W4297725064","https://openalex.org/W4312606103","https://openalex.org/W4362500596","https://openalex.org/W4383066341","https://openalex.org/W6603887531","https://openalex.org/W6634059294","https://openalex.org/W6636759986","https://openalex.org/W6652231383","https://openalex.org/W6677702289","https://openalex.org/W6768569881","https://openalex.org/W6782364735","https://openalex.org/W6791084763","https://openalex.org/W6843902965"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2951795132","https://openalex.org/W4312092966","https://openalex.org/W2755286209","https://openalex.org/W3153542184","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029"],"abstract_inverted_index":{"In":[0],"this":[1,106,193],"article,":[2],"we":[3],"propose":[4],"a":[5,114,153,161,214],"novel":[6],"light":[7],"detection":[8],"and":[9,13,23,42,67,95,130,169,178],"ranging":[10],"(LiDAR)(-inertial)":[11],"odometry":[12],"mapping":[14],"framework":[15,30],"to":[16,65,160],"achieve":[17],"the":[18,49,54,57,70,77,84,88,91,109,146,167,172,188,195,199,205],"goal":[19],"of":[20,105,124,148,184,190,208],"simultaneous":[21],"localization":[22,45],"meshing":[24,33,74,110,140,173],"in":[25,135,166,198],"real":[26],"time.":[27],"This":[28,138],"proposed":[29],"termed":[31],"immediately":[32],"(ImMesh)":[34],"comprises":[35],"four":[36],"tightly-coupled":[37],"modules:":[38],"receiver,":[39,55],"localization,":[40],"meshing,":[41],"broadcaster.":[43,101],"The":[44,102],"module":[46,75],"first":[47,151,196],"utilizes":[48],"preprocessed":[50],"sensor":[51,58],"data":[52],"from":[53],"estimates":[56],"pose":[59],"online":[60,204],"by":[61,116,127,156],"registering":[62],"LiDAR":[63,79],"scans":[64],"maps,":[66],"dynamically":[68],"grows":[69],"map.":[71],"Then,":[72],"our":[73,100],"takes":[76],"registered":[78],"scan":[80],"for":[81,145,181],"incrementally":[82,131],"reconstructing":[83],"triangle":[85,133,185,206],"mesh":[86,96,207],"on":[87,213],"fly.":[89],"Finally,":[90],"real-time":[92],"odometry,":[93],"map,":[94],"are":[97],"published":[98],"via":[99],"primary":[103],"contribution":[104],"work":[107,197],"is":[108,142,194],"module,":[111],"which":[112],"represents":[113],"scene":[115],"an":[117],"efficient":[118],"voxel":[119],"structure,":[120],"performs":[121,152],"fast":[122],"finding":[123],"voxels":[125],"observed":[126],"new":[128],"scans,":[129],"reconstructs":[132],"facets":[134],"each":[136],"voxel.":[137],"voxel-wise":[139],"operation":[141,174],"delicately":[143],"designed":[144],"purpose":[147],"efficiency;":[149],"it":[150],"dimension":[154],"reduction":[155],"projecting":[157],"3-D":[158],"points":[159],"2-D":[162],"local":[163],"plane":[164],"contained":[165],"voxel,":[168],"then":[170],"executes":[171],"with":[175],"pull,":[176],"commit,":[177],"push":[179],"steps":[180],"incremental":[182],"reconstruction":[183],"facets.":[186],"To":[187],"best":[189],"authors'":[191],"knowledge,":[192],"literature":[200],"that":[201],"can":[202],"reconstruct":[203],"large-scale":[209],"scenes,":[210],"just":[211],"relying":[212],"standard":[215],"CPU":[216],"without":[217],"GPU":[218],"acceleration.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}