{"id":"https://openalex.org/W4410950102","doi":"https://doi.org/10.1109/tvt.2025.3575067","title":"MTC-SLAM: Multi-Scale Tightly Coupled LiDAR-Inertial SLAM Method for Complex Environments With Dynamic Objects and Similar Features","display_name":"MTC-SLAM: Multi-Scale Tightly Coupled LiDAR-Inertial SLAM Method for Complex Environments With Dynamic Objects and Similar Features","publication_year":2025,"publication_date":"2025-06-02","ids":{"openalex":"https://openalex.org/W4410950102","doi":"https://doi.org/10.1109/tvt.2025.3575067"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3575067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3575067","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5112855169","display_name":"Qifeng Wang","orcid":"https://orcid.org/0009-0003-9073-121X"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qifeng Wang","raw_affiliation_strings":["School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0003-9073-121X","affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Weigang Li","orcid":"https://orcid.org/0000-0003-3268-127X"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weigang Li","raw_affiliation_strings":["School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-3268-127X","affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030254433","display_name":"Lei Nie","orcid":"https://orcid.org/0000-0001-6151-9170"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Nie","raw_affiliation_strings":["School of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-6151-9170","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017453183","display_name":"Wenping Liu","orcid":"https://orcid.org/0000-0003-3933-9792"},"institutions":[{"id":"https://openalex.org/I4210099437","display_name":"Hubei University Of Economics","ror":"https://ror.org/012a84b59","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210099437"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenping Liu","raw_affiliation_strings":["School of Information Management and Institute of Big Data and Digital Economy, Hubei University of Economics, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-3933-9792","affiliations":[{"raw_affiliation_string":"School of Information Management and Institute of Big Data and Digital Economy, Hubei University of Economics, Wuhan, China","institution_ids":["https://openalex.org/I4210099437"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061448582","display_name":"Hongbo Jiang","orcid":"https://orcid.org/0000-0001-7372-2539"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]},{"id":"https://openalex.org/I24407930","display_name":"Hunan University of Science and Engineering","ror":"https://ror.org/04ymz0q33","country_code":"CN","type":"education","lineage":["https://openalex.org/I24407930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Jiang","raw_affiliation_strings":["College of Computer Science and Electroni Engineering, Hunan University, Hunan, China"],"raw_orcid":"https://orcid.org/0000-0001-7372-2539","affiliations":[{"raw_affiliation_string":"College of Computer Science and Electroni Engineering, Hunan University, Hunan, China","institution_ids":["https://openalex.org/I16609230","https://openalex.org/I24407930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.6408,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.94920291,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"74","issue":"11","first_page":"16679","last_page":"16691"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9980000257492065,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9958000183105469,"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/lidar","display_name":"Lidar","score":0.7520596981048584},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7350530624389648},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6274439692497253},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.539879322052002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5233792066574097},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49090462923049927},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4871065616607666},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45603713393211365},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.20575809478759766},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18106994032859802},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17855224013328552},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16336122155189514},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11176624894142151},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.06823360919952393}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7520596981048584},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7350530624389648},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6274439692497253},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.539879322052002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5233792066574097},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49090462923049927},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4871065616607666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45603713393211365},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20575809478759766},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18106994032859802},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17855224013328552},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16336122155189514},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11176624894142151},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.06823360919952393},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3575067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3575067","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1025732298","display_name":null,"funder_award_id":"51774219","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":38,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W2049981393","https://openalex.org/W2131439959","https://openalex.org/W2296228853","https://openalex.org/W2482726005","https://openalex.org/W2565998037","https://openalex.org/W2737100565","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2948480829","https://openalex.org/W2976722701","https://openalex.org/W3003250797","https://openalex.org/W3003991701","https://openalex.org/W3011465262","https://openalex.org/W3044549235","https://openalex.org/W3091337047","https://openalex.org/W3129245057","https://openalex.org/W3130609318","https://openalex.org/W3133648073","https://openalex.org/W3182569554","https://openalex.org/W3206707024","https://openalex.org/W3211551288","https://openalex.org/W4200355487","https://openalex.org/W4205574455","https://openalex.org/W4210423514","https://openalex.org/W4221150082","https://openalex.org/W4281782917","https://openalex.org/W4312265650","https://openalex.org/W4313477060","https://openalex.org/W4385246585","https://openalex.org/W4385975620","https://openalex.org/W4386902868","https://openalex.org/W4387623717","https://openalex.org/W4387675739","https://openalex.org/W4389262772","https://openalex.org/W4394595889","https://openalex.org/W4399039847","https://openalex.org/W4403510251"],"related_works":["https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W4212966960","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2139939267","https://openalex.org/W1974511032"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,20,25,40,66,78,92,125,144,190],"Mapping":[3],"(SLAM)":[4],"is":[5,30,163],"critical":[6],"for":[7,153,171],"autonomous":[8],"driving.":[9],"Compared":[10],"with":[11,63,100],"visual":[12],"SLAM":[13,50,96],"which":[14],"suffers":[15],"from":[16,55],"variable":[17],"lighting":[18],"conditions":[19],"sparse":[21],"features,":[22],"Light":[23],"Detection":[24],"Ranging":[26],"(LiDAR)":[27],"based":[28],"solution":[29],"highly":[31],"competitive":[32],"since":[33],"LiDAR":[34,49],"can":[35,69],"offer":[36],"precise":[37],"distance":[38],"measurements":[39],"robust":[41],"resistance":[42],"to":[43,75,148,165],"changes":[44],"in":[45,187],"illumination.":[46],"However,":[47],"current":[48],"techniques":[51],"only":[52],"estimate":[53],"pose":[54,81],"a":[56,90,101,110,122,150,157],"single":[57],"scale,":[58,112,124],"such":[59],"that":[60,181],"complex":[61],"environments":[62],"dynamic":[64,126],"objects":[65],"similar":[67],"features":[68],"heavily":[70],"affect":[71],"the":[72,177],"performance,":[73],"leading":[74],"poor":[76],"accuracy":[77,189],"robustness":[79],"of":[80,107],"estimation.":[82],"To":[83],"address":[84],"these":[85],"challenges,":[86],"we":[87],"present":[88],"MTC-SLAM,":[89],"multi-scale":[91,158,169],"tightly":[93],"coupled":[94],"LiDAR-Inertial":[95],"method.":[97],"It":[98],"begins":[99],"coarse":[102],"adjustment":[103],"across":[104],"six":[105],"degrees":[106],"freedom":[108],"at":[109],"larger":[111],"followed":[113],"by":[114],"adaptive":[115],"step-size":[116],"least":[117],"squares":[118],"updates":[119,128],"for$\\boldsymbol{x}$,$\\boldsymbol{y}$,":[120],"and$\\boldsymbol{yaw}$on":[121],"smaller":[123],"interpolation":[127],"for$\\boldsymbol{z}$,$\\boldsymbol{pitch}$,":[129],"and$\\boldsymbol{roll}$.":[130],"The":[131],"updated":[132],"poses":[133],"are":[134],"integrated":[135],"as":[136],"odometer":[137],"factors,":[138,147],"alongside":[139],"Global":[140],"Positioning":[141],"System":[142],"(GPS)":[143],"loop":[145,159],"closure":[146,160],"construct":[149],"factor":[151],"graph":[152],"backend":[154],"optimization.":[155,173],"Additionally,":[156],"detection":[161],"method":[162],"proposed":[164],"identify":[166],"loops":[167],"using":[168],"descriptors":[170],"global":[172],"Extensive":[174],"experiments":[175],"on":[176],"MulRan":[178],"dataset":[179],"demonstrate":[180],"MTC-SLAM":[182],"outperforms":[183],"existing":[184],"mainstream":[185],"methods":[186],"both":[188],"robustness.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}