{"id":"https://openalex.org/W4283791656","doi":"https://doi.org/10.1142/s2301385023410030","title":"Multi-Uncertainty Captured Multi-Robot Lidar Odometry and Mapping Framework for Large-Scale Environments","display_name":"Multi-Uncertainty Captured Multi-Robot Lidar Odometry and Mapping Framework for Large-Scale Environments","publication_year":2022,"publication_date":"2022-07-01","ids":{"openalex":"https://openalex.org/W4283791656","doi":"https://doi.org/10.1142/s2301385023410030"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385023410030","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385023410030","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","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/A5024222994","display_name":"Guangming Xiong","orcid":"https://orcid.org/0000-0002-0914-1112"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xiong","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-0914-1112","affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, P. R. China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059313602","display_name":"Junyi Ma","orcid":"https://orcid.org/0000-0002-2453-0001"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyi Ma","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, P. R. China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061103543","display_name":"Huilong Yu","orcid":"https://orcid.org/0000-0003-4287-8332"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huilong Yu","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, P. R. China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100610904","display_name":"Jingyi Xu","orcid":"https://orcid.org/0000-0001-6082-4181"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyi Xu","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, P. R. China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110703995","display_name":"Jiahui Xu","orcid":"https://orcid.org/0009-0005-7696-8709"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahui Xu","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, P. R. China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":3.0112,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.92513939,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"11","issue":"02","first_page":"143","last_page":"157"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9965999722480774,"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/odometry","display_name":"Odometry","score":0.8334726691246033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6424957513809204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6289287805557251},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6145758628845215},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5288354754447937},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5252522826194763},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4476800560951233},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4403374195098877},{"id":"https://openalex.org/keywords/mahalanobis-distance","display_name":"Mahalanobis distance","score":0.43640249967575073},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4309891164302826},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.42611658573150635},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39867347478866577},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.14931705594062805},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12759795784950256}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8334726691246033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6424957513809204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6289287805557251},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6145758628845215},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5288354754447937},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5252522826194763},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4476800560951233},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4403374195098877},{"id":"https://openalex.org/C1921717","wikidata":"https://www.wikidata.org/wiki/Q1334846","display_name":"Mahalanobis distance","level":2,"score":0.43640249967575073},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4309891164302826},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.42611658573150635},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39867347478866577},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.14931705594062805},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12759795784950256},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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:10.1142/s2301385023410030","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385023410030","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","score":0.5299999713897705,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1501805437","https://openalex.org/W1584640914","https://openalex.org/W1990186220","https://openalex.org/W2047229728","https://openalex.org/W2113404170","https://openalex.org/W2124464760","https://openalex.org/W2128672031","https://openalex.org/W2160299137","https://openalex.org/W2168110171","https://openalex.org/W2205443796","https://openalex.org/W2248805773","https://openalex.org/W2344590599","https://openalex.org/W2398312881","https://openalex.org/W2735010494","https://openalex.org/W2809051097","https://openalex.org/W2916156896","https://openalex.org/W2937454583","https://openalex.org/W2949708697","https://openalex.org/W2963727135","https://openalex.org/W2976722701","https://openalex.org/W2979912832","https://openalex.org/W2992600074","https://openalex.org/W3002818939","https://openalex.org/W3004228652","https://openalex.org/W3039808820","https://openalex.org/W3089607054","https://openalex.org/W3114322046","https://openalex.org/W3119444100","https://openalex.org/W3128727670","https://openalex.org/W3139270484","https://openalex.org/W3146082954","https://openalex.org/W4200603158"],"related_works":["https://openalex.org/W4313854656","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W2724195622","https://openalex.org/W3126674423","https://openalex.org/W4205669743","https://openalex.org/W2970345194","https://openalex.org/W4200210047","https://openalex.org/W4386821976","https://openalex.org/W1969991288"],"abstract_inverted_index":{"Multi-robot":[0],"simultaneous":[1],"localization":[2],"and":[3,51,57,64,90,141,157],"mapping":[4,52],"(MR-SLAM)":[5],"is":[6,26,79,99,116],"of":[7,14,30,61,110,136,144],"great":[8],"importance":[9],"for":[10,23,76,148],"enhancing":[11],"the":[12,59,107,134,145],"efficiency":[13],"large-scale":[15,40,69,149],"environment":[16],"exploration.":[17],"Despite":[18],"remarkable":[19],"advances":[20],"in":[21,39,68,130],"schemes":[22],"cooperation,":[24],"there":[25],"a":[27,45],"critical":[28],"lack":[29],"approaches":[31],"to":[32,37,55,83,101,112,118],"handle":[33,84],"multiple":[34],"uncertainties":[35,60],"inherent":[36],"MR-SLAM":[38],"environments.":[41,70],"This":[42],"paper":[43],"proposes":[44],"multi-uncertainty":[46],"captured":[47],"multi-robot":[48],"lidar":[49],"odometry":[50],"(MUC-LOAM)":[53],"framework,":[54],"quantify":[56],"utilize":[58],"feature":[62,85],"points":[63],"robot":[65],"mutual":[66,103,122],"poses":[67],"A":[71,93],"proposed":[72,100,146],"hybrid":[73],"weighting":[74],"strategy":[75],"pose":[77,104],"update":[78],"integrated":[80],"into":[81],"MUC-LOAM":[82],"uncertainty":[86],"from":[87],"distance":[88],"changing":[89],"dynamic":[91],"objects.":[92],"devised":[94],"Bayesian":[95],"Neural":[96],"Network":[97],"(BNN)":[98],"capture":[102],"uncertainty.":[105],"Then":[106],"covariance":[108,125],"propagation":[109,126],"quaternions":[111],"Euler":[113],"angles":[114],"conversion":[115],"leveraged":[117],"filter":[119],"out":[120],"unreliable":[121],"poses.":[123],"Another":[124],"through":[127],"coordinate":[128],"transformations":[129],"nonlinear":[131],"optimization":[132],"improves":[133],"accuracy":[135],"map":[137],"merging.":[138],"The":[139],"feasibility":[140],"enhanced":[142],"robustness":[143],"framework":[147],"exploration":[150],"are":[151],"validated":[152],"on":[153],"both":[154],"public":[155],"datasets":[156],"real-world":[158],"experiments.":[159]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}