{"id":"https://openalex.org/W4388233233","doi":"https://doi.org/10.1177/02783649231207654","title":"Quatro++: Robust global registration exploiting ground segmentation for loop closing in LiDAR SLAM","display_name":"Quatro++: Robust global registration exploiting ground segmentation for loop closing in LiDAR SLAM","publication_year":2023,"publication_date":"2023-11-02","ids":{"openalex":"https://openalex.org/W4388233233","doi":"https://doi.org/10.1177/02783649231207654"},"language":"en","primary_location":{"id":"doi:10.1177/02783649231207654","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649231207654","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5077817769","display_name":"Hyungtae Lim","orcid":"https://orcid.org/0000-0002-7185-4666"},"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":true,"raw_author_name":"Hyungtae Lim","raw_affiliation_strings":["School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-7185-4666","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112499558","display_name":"Beomsoo Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Beomsoo Kim","raw_affiliation_strings":["Department of Artificial Intelligence, Hanyang University, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence, Hanyang University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031793226","display_name":"Daebeom Kim","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":"Daebeom Kim","raw_affiliation_strings":["Robotics Program, KAIST, Daejeon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Program, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033233478","display_name":"Eungchang Mason Lee","orcid":"https://orcid.org/0000-0003-0219-784X"},"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":"Eungchang Mason Lee","raw_affiliation_strings":["School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059521863","display_name":"Hyun Myung","orcid":"https://orcid.org/0000-0002-5799-2026"},"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":true,"raw_author_name":"Hyun Myung","raw_affiliation_strings":["School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5059521863","https://openalex.org/A5077817769"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":28.2297,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.99521025,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"43","issue":"5","first_page":"685","last_page":"715"},"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":0.9991999864578247,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8618155717849731},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6724554300308228},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6715294718742371},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6634994745254517},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6311887502670288},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.588115930557251},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5218918919563293},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.44778335094451904},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4158402681350708},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.41262632608413696},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2038339376449585},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18348541855812073},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1558454930782318},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11450496315956116}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8618155717849731},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6724554300308228},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6715294718742371},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6634994745254517},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6311887502670288},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.588115930557251},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5218918919563293},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.44778335094451904},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4158402681350708},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.41262632608413696},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2038339376449585},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18348541855812073},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1558454930782318},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11450496315956116},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649231207654","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649231207654","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":100,"referenced_works":["https://openalex.org/W1575387439","https://openalex.org/W1713920520","https://openalex.org/W1823437338","https://openalex.org/W1953793983","https://openalex.org/W1977077642","https://openalex.org/W1988874269","https://openalex.org/W1993267444","https://openalex.org/W2000018820","https://openalex.org/W2001836169","https://openalex.org/W2009422376","https://openalex.org/W2012596828","https://openalex.org/W2015348959","https://openalex.org/W2024908906","https://openalex.org/W2051610568","https://openalex.org/W2057175746","https://openalex.org/W2073643752","https://openalex.org/W2080823437","https://openalex.org/W2085261163","https://openalex.org/W2088616581","https://openalex.org/W2090176208","https://openalex.org/W2098890714","https://openalex.org/W2115001439","https://openalex.org/W2115579991","https://openalex.org/W2119851068","https://openalex.org/W2130017587","https://openalex.org/W2140711847","https://openalex.org/W2144931885","https://openalex.org/W2150066425","https://openalex.org/W2152864241","https://openalex.org/W2154538673","https://openalex.org/W2160821342","https://openalex.org/W2166820607","https://openalex.org/W2169866651","https://openalex.org/W2170208355","https://openalex.org/W2296228853","https://openalex.org/W2344109021","https://openalex.org/W2408654640","https://openalex.org/W2472414548","https://openalex.org/W2519911873","https://openalex.org/W2566265240","https://openalex.org/W2735595030","https://openalex.org/W2737444374","https://openalex.org/W2745859992","https://openalex.org/W2749287221","https://openalex.org/W2805521962","https://openalex.org/W2883357174","https://openalex.org/W2889300857","https://openalex.org/W2901531818","https://openalex.org/W2904274854","https://openalex.org/W2909157769","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2912522929","https://openalex.org/W2931310555","https://openalex.org/W2955418607","https://openalex.org/W2955484384","https://openalex.org/W2964014140","https://openalex.org/W2973258311","https://openalex.org/W2983104849","https://openalex.org/W2986382673","https://openalex.org/W3000964723","https://openalex.org/W3003592400","https://openalex.org/W3007240855","https://openalex.org/W3035030518","https://openalex.org/W3035272603","https://openalex.org/W3035490780","https://openalex.org/W3091337047","https://openalex.org/W3095662029","https://openalex.org/W3097606838","https://openalex.org/W3104290757","https://openalex.org/W3108492605","https://openalex.org/W3111598592","https://openalex.org/W3120082156","https://openalex.org/W3127188503","https://openalex.org/W3128492115","https://openalex.org/W3129245057","https://openalex.org/W3129791688","https://openalex.org/W3130044230","https://openalex.org/W3133710162","https://openalex.org/W3161626214","https://openalex.org/W3166975282","https://openalex.org/W3167684723","https://openalex.org/W3168086592","https://openalex.org/W3168291432","https://openalex.org/W3176124701","https://openalex.org/W3176159010","https://openalex.org/W3192680689","https://openalex.org/W3195006234","https://openalex.org/W3203066970","https://openalex.org/W3203482640","https://openalex.org/W3207682209","https://openalex.org/W4205301773","https://openalex.org/W4242073862","https://openalex.org/W4281682914","https://openalex.org/W4285033252","https://openalex.org/W4285400506","https://openalex.org/W4293812019","https://openalex.org/W4383108936","https://openalex.org/W6600237248","https://openalex.org/W6601870611"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423"],"abstract_inverted_index":{"Global":[0],"registration":[1,29,112,126,133,173],"is":[2,34,41,46,148,222,249],"a":[3,59,109,165],"fundamental":[4],"task":[5],"that":[6,23,120,160,185,215],"estimates":[7],"the":[8,25,35,39,49,53,70,90,94,124,130,137,156,170,176,192,196,206,216,219,230,234,244],"relative":[9],"pose":[10,91],"between":[11,93],"two":[12,21,83,95],"viewpoints":[13,96],"of":[14,27,52,97,136,218,236],"3D":[15,54,98],"point":[16,55,99],"clouds.":[17],"However,":[18],"there":[19],"are":[20],"issues":[22,84],"degrade":[24],"performance":[26],"global":[28,111,125,132,153,172],"in":[30,58,134,140,210,243],"LiDAR":[31,62,141,211],"SLAM:":[32],"one":[33],"sparsity":[36,44,177],"issue":[37,45,66],"and":[38,178,213],"other":[40],"degeneracy.":[42],"The":[43,64],"caused":[47],"by":[48],"sparse":[50],"characteristics":[51],"cloud":[56],"measurements":[57],"mechanically":[60],"spinning":[61],"sensor.":[63],"degeneracy":[65,179],"sometimes":[67],"occurs":[68],"because":[69],"outlier-rejection":[71],"methods":[72],"reject":[73],"too":[74],"many":[75],"correspondences,":[76],"leaving":[77],"less":[78],"than":[79,169],"three":[80],"inliers.":[81],"These":[82],"have":[85],"become":[86],"more":[87,225],"severe":[88],"as":[89,239],"discrepancy":[92],"clouds":[100],"becomes":[101],"greater.":[102],"To":[103,143],"tackle":[104],"these":[105],"problems,":[106],"we":[107,128,158,183,200],"propose":[108],"robust":[110,131,152],"framework,":[113],"called":[114],"Quatro++.":[115],"Extending":[116],"our":[117,161,202,237],"previous":[118],"work":[119],"solely":[121],"focused":[122],"on":[123],"itself,":[127],"address":[129],"terms":[135],"loop":[138,207,220,245],"closing":[139,208],"SLAM.":[142],"this":[144],"end,":[145],"ground":[146,186,197],"segmentation":[147,187],"exploited":[149],"to":[150,190,205],"achieve":[151],"registration.":[154],"Through":[155],"experiments,":[157],"demonstrate":[159],"proposed":[162,203],"method":[163,204,238],"shows":[164],"higher":[166],"success":[167,193],"rate":[168,194],"state-of-the-art":[171],"methods,":[174],"overcoming":[175],"issues.":[180],"In":[181],"addition,":[182],"show":[184],"significantly":[188],"helps":[189],"increase":[191],"for":[195],"vehicles.":[198],"Finally,":[199],"apply":[201],"module":[209],"SLAM":[212],"confirm":[214],"quality":[217],"constraints":[221],"improved,":[223],"showing":[224],"precise":[226],"mapping":[227],"results.":[228],"Therefore,":[229],"experimental":[231],"evidence":[232],"corroborated":[233],"suitability":[235],"an":[240],"initial":[241],"alignment":[242],"closing.":[246],"Our":[247],"code":[248],"available":[250],"at":[251],"https://quatro-plusplus.github.io":[252],".":[253]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":12}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
