{"id":"https://openalex.org/W7154499403","doi":"https://doi.org/10.1109/upinlbs68186.2025.11468411","title":"Unified Voxel-Centric LiDAR-Visual-Inertial SLAM for Large-Scale GNSS-Denied Environments","display_name":"Unified Voxel-Centric LiDAR-Visual-Inertial SLAM for Large-Scale GNSS-Denied Environments","publication_year":2025,"publication_date":"2025-12-17","ids":{"openalex":"https://openalex.org/W7154499403","doi":"https://doi.org/10.1109/upinlbs68186.2025.11468411"},"language":null,"primary_location":{"id":"doi:10.1109/upinlbs68186.2025.11468411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs68186.2025.11468411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Ubiquitous Positioning, Indoor Navigation and Location-Based Services Conference (UPINLBS)","raw_type":"proceedings-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/A5051342555","display_name":"Y Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yinong Cao","raw_affiliation_strings":["Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133698905","display_name":"Chenyang Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyang Zhang","raw_affiliation_strings":["Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125054748","display_name":"X He","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin He","raw_affiliation_strings":["Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104332961","display_name":"Pingfeng He","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pingfeng He","raw_affiliation_strings":["Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133650681","display_name":"Tingwei Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tingwei Wang","raw_affiliation_strings":["Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063129790","display_name":"Yuwei Chen","orcid":"https://orcid.org/0009-0006-2547-5135"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuwei Chen","raw_affiliation_strings":["Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences,Hangzhou,China","institution_ids":["https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5051342555"],"corresponding_institution_ids":["https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.92439794,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9728999733924866,"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":0.9728999733924866,"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":0.0038999998942017555,"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":0.0032999999821186066,"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/set","display_name":"Set (abstract data type)","score":0.29919999837875366},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.27239999175071716},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.24480000138282776},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.2386000007390976},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.23749999701976776}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5267999768257141},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4334999918937683},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37209999561309814},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.29919999837875366},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.24480000138282776},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2386000007390976},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.23749999701976776},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.22310000658035278},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.2206999957561493}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/upinlbs68186.2025.11468411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs68186.2025.11468411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Ubiquitous Positioning, Indoor Navigation and Location-Based Services Conference (UPINLBS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.5935718417167664,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Large-scale":[0],"SLAM":[1,24],"in":[2,84,97],"GNSS-denied":[3],"environments":[4],"requires":[5],"unified":[6],"architectures":[7],"integrating":[8],"odometry":[9],"estimation":[10],"and":[11,55],"loop":[12,89],"closure":[13,90],"detection":[14],"while":[15],"managing":[16],"computational":[17],"complexity.":[18],"We":[19],"present":[20],"an":[21],"adaptive":[22],"voxel-centric":[23],"framework":[25],"employing":[26],"a":[27],"Hash-Octree":[28],"structure":[29],"for":[30,87],"multi-modal":[31],"information":[32],"organization.":[33],"The":[34,62],"system":[35],"extends":[36],"single-camera":[37],"voxel":[38,48],"mapping":[39],"to":[40],"multi-camera":[41,44,56,74],"configurations":[42],"through":[43],"patch":[45],"propagation.":[46],"Each":[47],"maintains":[49],"geometric":[50],"plane":[51],"parameters":[52],"from":[53],"LiDAR":[54,71],"visual":[57],"observations":[58],"with":[59,73],"temporal":[60],"metadata.":[61],"Error-State":[63],"Iterated":[64],"Kalman":[65],"Filter":[66],"(ESIKF)":[67],"tightly":[68],"couples":[69],"point-to-plane":[70],"constraints":[72],"photometric":[75],"residuals.":[76],"Dual":[77],"point":[78],"cloud":[79],"accumulators":[80],"construct":[81],"rotation-invariant":[82],"descriptors":[83],"polar":[85],"coordinates":[86],"efficient":[88],"detection.":[91],"Comprehensive":[92],"evaluation":[93],"demonstrates":[94],"superior":[95],"performance":[96],"kilometer-scale":[98],"environments.":[99]},"counts_by_year":[],"updated_date":"2026-04-17T05:58:53.018234","created_date":"2026-04-16T00:00:00"}
