{"id":"https://openalex.org/W4412966608","doi":"https://doi.org/10.1109/ur65550.2025.11078091","title":"Vft-Lio: Visual Feature Tracking for Robust Lidar Inertial Odometry Under Repetitive Patterns","display_name":"Vft-Lio: Visual Feature Tracking for Robust Lidar Inertial Odometry Under Repetitive Patterns","publication_year":2025,"publication_date":"2025-06-30","ids":{"openalex":"https://openalex.org/W4412966608","doi":"https://doi.org/10.1109/ur65550.2025.11078091"},"language":"en","primary_location":{"id":"doi:10.1109/ur65550.2025.11078091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur65550.2025.11078091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 22nd International Conference on Ubiquitous Robots (UR)","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/A5103063335","display_name":"Donghyun Choi","orcid":"https://orcid.org/0000-0002-7706-3398"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghyun Choi","raw_affiliation_strings":["University of Korea Advanced Institute of Science and Technology (KAIST),Department of Civil and Environmental Engineering,The Republic of Korea,34141"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Korea Advanced Institute of Science and Technology (KAIST),Department of Civil and Environmental Engineering,The Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005128373","display_name":"Sangmin Lee","orcid":"https://orcid.org/0000-0002-4936-7503"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangmin Lee","raw_affiliation_strings":["University of Korea Advanced Institute of Science and Technology (KAIST),Department of Civil and Environmental Engineering,The Republic of Korea,34141"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Korea Advanced Institute of Science and Technology (KAIST),Department of Civil and Environmental Engineering,The Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079408250","display_name":"Handong Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Handong Lee","raw_affiliation_strings":["University of Korea Advanced Institute of Science and Technology (KAIST),Department of Civil and Environmental Engineering,The Republic of Korea,34141"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Korea Advanced Institute of Science and Technology (KAIST),Department of Civil and Environmental Engineering,The Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019438521","display_name":"Jee-Hwan Ryu","orcid":"https://orcid.org/0000-0002-6497-7115"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jee-Hwan Ryu","raw_affiliation_strings":["University of Korea Advanced Institute of Science and Technology (KAIST),Department of Civil and Environmental Engineering,The Republic of Korea,34141"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Korea Advanced Institute of Science and Technology (KAIST),Department of Civil and Environmental Engineering,The Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":3.4627,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.92754222,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"26","last_page":"33"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7447565793991089},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.742810845375061},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6960955262184143},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6706767082214355},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5954304933547974},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5732445120811462},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5602089166641235},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5224596261978149},{"id":"https://openalex.org/keywords/feature-tracking","display_name":"Feature tracking","score":0.4756433963775635},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.31699955463409424},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.234523743391037},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19252613186836243},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18630605936050415},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10754531621932983},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08804917335510254}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7447565793991089},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.742810845375061},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6960955262184143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6706767082214355},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5954304933547974},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5732445120811462},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5602089166641235},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5224596261978149},{"id":"https://openalex.org/C2987395694","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Feature tracking","level":3,"score":0.4756433963775635},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.31699955463409424},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.234523743391037},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19252613186836243},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18630605936050415},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10754531621932983},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08804917335510254},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur65550.2025.11078091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur65550.2025.11078091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 22nd International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W2023513943","https://openalex.org/W2049981393","https://openalex.org/W2115579991","https://openalex.org/W2127752689","https://openalex.org/W2133820918","https://openalex.org/W2277848489","https://openalex.org/W2414309118","https://openalex.org/W2482726005","https://openalex.org/W2569273543","https://openalex.org/W2909908358","https://openalex.org/W2910122778","https://openalex.org/W2938818630","https://openalex.org/W2977461652","https://openalex.org/W2990140977","https://openalex.org/W3003659795","https://openalex.org/W3043075211","https://openalex.org/W3091337047","https://openalex.org/W3091486995","https://openalex.org/W3125449081","https://openalex.org/W3129245057","https://openalex.org/W3173112500","https://openalex.org/W3206411252","https://openalex.org/W4224277492","https://openalex.org/W4225835048","https://openalex.org/W4249866455","https://openalex.org/W4293198779","https://openalex.org/W4312496578","https://openalex.org/W4386168116","https://openalex.org/W4387717484","https://openalex.org/W4391676180","https://openalex.org/W4402192484"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692"],"abstract_inverted_index":{"Recent":[0],"advancements":[1],"in":[2,62,90,95,112,196],"autonomous":[3],"vehicle":[4,93,169],"odometry":[5,109],"estimation":[6,110,171],"have":[7,81],"been":[8,82],"largely":[9],"driven":[10],"by":[11,116],"the":[12,118,189],"integration":[13],"of":[14,121,147,191],"various":[15],"sensor":[16,73],"technologies.":[17],"Among":[18],"these,":[19],"Light":[20],"Detection":[21],"and":[22,25,65,124],"Ranging":[23],"(LiDAR)":[24],"cameras":[26,123],"play":[27],"a":[28,59,103,129],"crucial":[29],"role;":[30],"however,":[31],"both":[32,122],"exhibit":[33],"inherent":[34],"limitations.":[35],"In":[36,49],"particular,":[37],"cameras,":[38],"which":[39],"are":[40,43],"widely":[41],"utilized,":[42],"highly":[44],"susceptible":[45],"to":[46,54,106,159],"illumination":[47,160],"changes.":[48,161],"contrast,":[50],"LiDAR":[51,70,108,193],"is":[52,165],"robust":[53,153],"such":[55,197],"variations,":[56],"making":[57],"it":[58],"powerful":[60],"tool":[61],"Simultaneous":[63],"Localization":[64],"Mapping":[66],"(SLAM).":[67],"To":[68],"enhance":[69],"performance,":[71],"numerous":[72],"fusion":[74],"approaches":[75],"incorporating":[76,192],"Inertial":[77],"Measurement":[78],"Units":[79],"(IMUs)":[80],"proposed.":[83],"Nonetheless,":[84],"LiDAR-based":[85,186],"methods":[86],"still":[87],"face":[88],"challenges":[89],"accurately":[91],"estimating":[92],"states":[94],"environments":[96,115],"with":[97],"repetitive":[98,113,176],"patterns.":[99,177],"This":[100],"paper":[101],"introduces":[102],"novel":[104],"framework":[105],"improve":[107],"accuracy":[111],"pattern":[114],"leveraging":[117],"complementary":[119],"strengths":[120],"LiDAR.":[125],"Specifically,":[126],"we":[127],"employ":[128],"visual":[130],"feature":[131,154],"tracking-based":[132],"approach":[133,183],"that":[134,181],"utilizes":[135],"2D":[136,148],"intensity":[137,150],"images":[138,151],"generated":[139],"from":[140],"3D":[141],"point":[142],"cloud":[143],"data.":[144],"The":[145,162],"use":[146],"projected":[149],"enables":[152],"extraction":[155],"while":[156],"maintaining":[157],"resilience":[158],"proposed":[163],"method":[164],"evaluated":[166],"on":[167],"real-time":[168],"state":[170],"tasks":[172],"using":[173],"datasets":[174],"containing":[175],"Experimental":[178],"results":[179],"demonstrate":[180],"our":[182],"outperforms":[184],"traditional":[185],"methods,":[187],"validating":[188],"effectiveness":[190],"vision":[194],"techniques":[195],"challenging":[198],"environments.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}
