{"id":"https://openalex.org/W4387693689","doi":"https://doi.org/10.1145/3626098","title":"Robust Embedded Autonomous Driving Positioning System Fusing LiDAR and Inertial Sensors","display_name":"Robust Embedded Autonomous Driving Positioning System Fusing LiDAR and Inertial Sensors","publication_year":2023,"publication_date":"2023-10-17","ids":{"openalex":"https://openalex.org/W4387693689","doi":"https://doi.org/10.1145/3626098"},"language":"en","primary_location":{"id":"doi:10.1145/3626098","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3626098","pdf_url":null,"source":{"id":"https://openalex.org/S136160450","display_name":"ACM Transactions on Embedded Computing Systems","issn_l":"1539-9087","issn":["1539-9087","1558-3465"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Embedded Computing 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/A5103075298","display_name":"Zhijian He","orcid":"https://orcid.org/0000-0002-1735-2331"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Zhijian He","raw_affiliation_strings":["The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-1735-2331","affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019023411","display_name":"Bohuan Xue","orcid":"https://orcid.org/0000-0003-0332-3967"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Bohuan Xue","raw_affiliation_strings":["The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021447091","display_name":"Xiangcheng Hu","orcid":"https://orcid.org/0000-0003-3535-6886"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xiangcheng Hu","raw_affiliation_strings":["The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032600760","display_name":"Zhaoyan Shen","orcid":"https://orcid.org/0000-0001-9526-6634"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoyan Shen","raw_affiliation_strings":["Shandong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101187963","display_name":"Xiangyue Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyue Zeng","raw_affiliation_strings":["Sun Yat-Sen University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-Sen University, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5103075298"],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":5.693,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.95553879,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"23","issue":"1","first_page":"1","last_page":"26"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.996399998664856,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9940999746322632,"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/lidar","display_name":"Lidar","score":0.8515318632125854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8223806023597717},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6440699100494385},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6328299045562744},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5995707511901855},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5888291001319885},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5736205577850342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5615705251693726},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38013315200805664},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.26820385456085205}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8515318632125854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8223806023597717},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6440699100494385},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6328299045562744},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5995707511901855},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5888291001319885},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5736205577850342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5615705251693726},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38013315200805664},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.26820385456085205},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3626098","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3626098","pdf_url":null,"source":{"id":"https://openalex.org/S136160450","display_name":"ACM Transactions on Embedded Computing Systems","issn_l":"1539-9087","issn":["1539-9087","1558-3465"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Embedded Computing Systems","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-137687","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-137687","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8","score":0.46000000834465027}],"awards":[{"id":"https://openalex.org/G6114700630","display_name":null,"funder_award_id":"2021B1515120032","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W605682304","https://openalex.org/W1953793983","https://openalex.org/W2004312117","https://openalex.org/W2049981393","https://openalex.org/W2058887615","https://openalex.org/W2099606917","https://openalex.org/W2144594079","https://openalex.org/W2271206385","https://openalex.org/W2337259751","https://openalex.org/W2412782625","https://openalex.org/W2598706937","https://openalex.org/W2609883120","https://openalex.org/W2745859992","https://openalex.org/W2786814539","https://openalex.org/W2895150432","https://openalex.org/W3030308125","https://openalex.org/W3043971245","https://openalex.org/W3092856933","https://openalex.org/W3098410961","https://openalex.org/W3106440972","https://openalex.org/W3126830741","https://openalex.org/W3132455321","https://openalex.org/W3161855852","https://openalex.org/W3163789542","https://openalex.org/W3169350589","https://openalex.org/W3178751061","https://openalex.org/W3199184510","https://openalex.org/W3217560493","https://openalex.org/W4200268060","https://openalex.org/W4205574455","https://openalex.org/W4205686350","https://openalex.org/W4210423514","https://openalex.org/W4226409460","https://openalex.org/W4242073862","https://openalex.org/W4255723720","https://openalex.org/W4285165925","https://openalex.org/W4286959257","https://openalex.org/W4293243644"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2785359964"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1,124],"emphasizes":[2],"precise":[3],"multi-sensor":[4],"fusion":[5,14,51,120],"positioning":[6,68],"on":[7,46,169],"limit":[8],"resource":[9],"embedded":[10,125],"systems.":[11],"LiDAR-centered":[12,96],"sensor":[13,50,81,97,149],"system":[15,21],"serves":[16],"as":[17,59],"a":[18,54,75,114],"mainstream":[19,67],"navigation":[20],"due":[22],"to":[23,26,70,152,190],"its":[24],"insensitivity":[25],"illumination":[27],"and":[28,61,174,183],"viewpoint":[29],"change.":[30],"However,":[31,83],"these":[32],"types":[33],"of":[34,130,185],"systems":[35],"suffer":[36],"from":[37],"handling":[38],"large-scale":[39],"sequential":[40],"LiDAR":[41,79,118],"data":[42],"using":[43],"limited":[44],"resources":[45],"board,":[47],"leading":[48],"LiDAR-centralized":[49],"unpractical.":[52],"As":[53],"result,":[55],"hand-crafted":[56],"features":[57],"such":[58,84],"plane":[60],"edge":[62],"are":[63],"leveraged":[64],"in":[65,78,95],"majority":[66],"methods":[69],"alleviate":[71],"this":[72,110],"unsatisfaction,":[73],"triggering":[74],"new":[76],"cornerstone":[77],"Inertial":[80,119,148],"fusion.":[82],"super":[85],"light":[86],"weight":[87],"feature":[88,136],"extraction,":[89],"although":[90],"it":[91],"achieves":[92],"real-time":[93],"constraint":[94],"fusion,":[98],"encounters":[99],"severe":[100],"vulnerability":[101],"under":[102],"high":[103],"speed":[104],"rotational":[105],"or":[106],"translational":[107],"perturbation.":[108],"In":[109],"paper,":[111],"we":[112],"propose":[113],"sparse":[115,131],"tensor":[116],"based":[117],"method":[121],"for":[122],"autonomous":[123],"system.":[126],"Leveraging":[127],"the":[128,133,141,154,159,181],"power":[129],"tensor,":[132],"global":[134],"geometrical":[135],"is":[137,146,150],"fetched":[138],"so":[139],"that":[140],"point":[142],"cloud":[143],"sparsity":[144],"defect":[145],"alleviated.":[147],"deployed":[151],"conquer":[153],"time-consuming":[155],"step":[156],"caused":[157],"by":[158],"coarse":[160],"level":[161],"point-wise":[162],"inlier":[163],"matching.":[164],"We":[165],"construct":[166],"our":[167,186],"experiments":[168],"both":[170],"representative":[171],"dataset":[172],"benchmarks":[173],"realistic":[175],"scenes.":[176],"The":[177],"evaluation":[178],"results":[179],"show":[180],"robustness":[182],"accuracy":[184],"proposed":[187],"solution":[188],"compared":[189],"classical":[191],"methods.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
