{"id":"https://openalex.org/W4321372451","doi":"https://doi.org/10.3390/jimaging9020052","title":"LiDAR-Based Sensor Fusion SLAM and Localization for Autonomous Driving Vehicles in Complex Scenarios","display_name":"LiDAR-Based Sensor Fusion SLAM and Localization for Autonomous Driving Vehicles in Complex Scenarios","publication_year":2023,"publication_date":"2023-02-20","ids":{"openalex":"https://openalex.org/W4321372451","doi":"https://doi.org/10.3390/jimaging9020052","pmid":"https://pubmed.ncbi.nlm.nih.gov/36826971"},"language":"en","primary_location":{"id":"doi:10.3390/jimaging9020052","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jimaging9020052","pdf_url":"https://www.mdpi.com/2313-433X/9/2/52/pdf?version=1676885775","source":{"id":"https://openalex.org/S2736465063","display_name":"Journal of Imaging","issn_l":"2313-433X","issn":["2313-433X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Imaging","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2313-433X/9/2/52/pdf?version=1676885775","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042044136","display_name":"Kai Dai","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Dai","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050735499","display_name":"Bohua Sun","orcid":"https://orcid.org/0000-0001-7927-0772"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bohua Sun","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020791333","display_name":"Guanpu Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanpu Wu","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078667171","display_name":"Shuai Zhao","orcid":"https://orcid.org/0000-0003-0721-8021"},"institutions":[{"id":"https://openalex.org/I4210094894","display_name":"China Automotive Technology and Research Center","ror":"https://ror.org/00r5r6807","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210094894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Zhao","raw_affiliation_strings":["Automotive Data Center, CATARC, Tianjin 300000, China"],"affiliations":[{"raw_affiliation_string":"Automotive Data Center, CATARC, Tianjin 300000, China","institution_ids":["https://openalex.org/I4210094894"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089996633","display_name":"Fangwu Ma","orcid":"https://orcid.org/0000-0002-0007-0549"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangwu Ma","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100324354","display_name":"Yufei Zhang","orcid":"https://orcid.org/0009-0005-9848-4174"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufei Zhang","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101679610","display_name":"Wu Jian","orcid":"https://orcid.org/0000-0001-5002-5159"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wu","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5050735499"],"corresponding_institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":9.9249,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.97288963,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"52","last_page":"52"},"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":0.9991000294685364,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8604863286018372},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7405743598937988},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.7009773254394531},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6905773878097534},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6464887261390686},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6181222200393677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6178590059280396},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6176648736000061},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5302954316139221},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4327360689640045},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.410931259393692},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3530244827270508},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3248801827430725},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2659912407398224},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22790804505348206},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10666656494140625}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8604863286018372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7405743598937988},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7009773254394531},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6905773878097534},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6464887261390686},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6181222200393677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6178590059280396},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6176648736000061},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5302954316139221},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4327360689640045},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.410931259393692},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3530244827270508},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3248801827430725},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2659912407398224},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22790804505348206},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10666656494140625},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/jimaging9020052","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jimaging9020052","pdf_url":"https://www.mdpi.com/2313-433X/9/2/52/pdf?version=1676885775","source":{"id":"https://openalex.org/S2736465063","display_name":"Journal of Imaging","issn_l":"2313-433X","issn":["2313-433X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Imaging","raw_type":"journal-article"},{"id":"pmid:36826971","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36826971","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of imaging","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:9961341","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9961341","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"J Imaging","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:dc769e48b1684d9db8c07f7a2c6c7e10","is_oa":true,"landing_page_url":"https://doaj.org/article/dc769e48b1684d9db8c07f7a2c6c7e10","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Imaging, Vol 9, Iss 2, p 52 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/jimaging9020052","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jimaging9020052","pdf_url":"https://www.mdpi.com/2313-433X/9/2/52/pdf?version=1676885775","source":{"id":"https://openalex.org/S2736465063","display_name":"Journal of Imaging","issn_l":"2313-433X","issn":["2313-433X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Imaging","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7359923313","display_name":null,"funder_award_id":"2021M691207","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4321372451.pdf"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1953793983","https://openalex.org/W2011767579","https://openalex.org/W2080823437","https://openalex.org/W2131439959","https://openalex.org/W2133820918","https://openalex.org/W2150066425","https://openalex.org/W2150981915","https://openalex.org/W2461937780","https://openalex.org/W2501219359","https://openalex.org/W2515303922","https://openalex.org/W2559850636","https://openalex.org/W2569720095","https://openalex.org/W2791639158","https://openalex.org/W2896094353","https://openalex.org/W2914921243","https://openalex.org/W2946966373","https://openalex.org/W2954312769","https://openalex.org/W2954590635","https://openalex.org/W3043258647","https://openalex.org/W3045897451","https://openalex.org/W3076249718","https://openalex.org/W3083208433","https://openalex.org/W3104616167","https://openalex.org/W3119783965","https://openalex.org/W3124420883","https://openalex.org/W3126285971","https://openalex.org/W3130898021","https://openalex.org/W3163573497","https://openalex.org/W3171345751","https://openalex.org/W3179694074","https://openalex.org/W3196890180","https://openalex.org/W3198180808","https://openalex.org/W4205686350"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W4212966960","https://openalex.org/W2034836143","https://openalex.org/W3196708299","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W3126674423","https://openalex.org/W2124886850"],"abstract_inverted_index":{"LiDAR-based":[0,126],"simultaneous":[1],"localization":[2,8,33,50,117,127,169],"and":[3,6,16,32,48,58,82,96,129,136,143,166,171],"mapping":[4,69,164],"(SLAM)":[5],"online":[7,49,174],"methods":[9],"are":[10,17,106,146],"widely":[11],"used":[12,147],"in":[13,29,64,157,177],"autonomous":[14,175],"driving,":[15],"key":[18],"parts":[19],"of":[20,73],"intelligent":[21],"vehicles.":[22],"However,":[23],"current":[24],"SLAM":[25,47],"algorithms":[26,34],"have":[27,40],"limitations":[28],"map":[30,112],"drift":[31],"based":[35,52],"on":[36,53],"a":[37,61],"single":[38],"sensor":[39],"poor":[41],"adaptability":[42],"to":[43,108,132,148],"complex":[44,178],"scenarios.":[45,179],"A":[46],"method":[51,154],"multi-sensor":[54],"fusion":[55],"is":[56],"proposed":[57,151],"integrated":[59],"into":[60],"general":[62],"framework":[63],"this":[65],"paper.":[66],"In":[67,115],"the":[68,94,97,103,116,119,150,158],"process,":[70,118],"constraints":[71],"consisting":[72],"normal":[74],"distributions":[75],"transform":[76],"(NDT)":[77],"registration,":[78],"loop":[79],"closure":[80],"detection":[81],"real":[83],"time":[84],"kinematic":[85],"(RTK)":[86],"global":[87],"navigation":[88],"satellite":[89],"system":[90],"(GNSS)":[91],"position":[92,128],"for":[93,102],"front-end":[95],"pose":[98],"graph":[99],"optimization":[100],"algorithm":[101],"back-end,":[104],"which":[105],"applied":[107],"achieve":[109],"an":[110],"optimized":[111],"without":[113],"drift.":[114],"error":[120],"state":[121],"Kalman":[122],"filter":[123],"(ESKF)":[124],"fuses":[125],"vehicle":[130],"states":[131],"realize":[133],"more":[134],"robust":[135],"precise":[137],"localization.":[138],"The":[139,153],"open-source":[140],"KITTI":[141],"dataset":[142],"field":[144],"tests":[145],"test":[149,159],"method.":[152],"effectiveness":[155],"shown":[156],"results":[160],"achieves":[161],"5-10":[162],"cm":[163,168],"accuracy":[165],"20-30":[167],"accuracy,":[170],"it":[172],"realizes":[173],"driving":[176]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
