{"id":"https://openalex.org/W3175761519","doi":"https://doi.org/10.3390/rs13122371","title":"Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping","display_name":"Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping","publication_year":2021,"publication_date":"2021-06-17","ids":{"openalex":"https://openalex.org/W3175761519","doi":"https://doi.org/10.3390/rs13122371","mag":"3175761519"},"language":"en","primary_location":{"id":"doi:10.3390/rs13122371","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13122371","pdf_url":"https://www.mdpi.com/2072-4292/13/12/2371/pdf?version=1624507593","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/13/12/2371/pdf?version=1624507593","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100639063","display_name":"Jiachen Zhang","orcid":"https://orcid.org/0000-0003-0664-1258"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]},{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Jiachen Zhang","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China","School of Precision Instrument and Opto-Electronics Engineering, Tianjin University, Tianjin 300072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"School of Precision Instrument and Opto-Electronics Engineering, Tianjin University, Tianjin 300072, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045346492","display_name":"Weisong Wen","orcid":"https://orcid.org/0000-0003-4158-0913"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Weisong Wen","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024235564","display_name":"Feng Huang","orcid":"https://orcid.org/0000-0002-3821-5993"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Feng Huang","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-3821-5993","affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaodong Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong Chen","raw_affiliation_strings":["School of Precision Instrument and Opto-Electronics Engineering, Tianjin University, Tianjin 300072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Precision Instrument and Opto-Electronics Engineering, Tianjin University, Tianjin 300072, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044957601","display_name":"Li\u2010Ta Hsu","orcid":"https://orcid.org/0000-0002-0352-741X"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Li-Ta Hsu","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-0352-741X","affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5045346492"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2784},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2784},"fwci":17.1745,"has_fulltext":true,"cited_by_count":26,"citation_normalized_percentile":{"value":0.98431568,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"13","issue":"12","first_page":"2371","last_page":"2371"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9961000084877014,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9948999881744385,"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/odometry","display_name":"Odometry","score":0.9438421726226807},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.9399311542510986},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8179572224617004},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.709278404712677},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.6940200328826904},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5318016409873962},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.523905873298645},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5231651067733765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4848802983760834},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4834086000919342},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.40147513151168823},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3597368001937866},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17016929388046265},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15455597639083862},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15100625157356262}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9438421726226807},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9399311542510986},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8179572224617004},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.709278404712677},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.6940200328826904},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5318016409873962},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.523905873298645},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5231651067733765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4848802983760834},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4834086000919342},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.40147513151168823},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3597368001937866},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17016929388046265},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15455597639083862},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15100625157356262},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/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/rs13122371","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13122371","pdf_url":"https://www.mdpi.com/2072-4292/13/12/2371/pdf?version=1624507593","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:7024284c5d4b466db7e181d2601ecb46","is_oa":true,"landing_page_url":"https://doaj.org/article/7024284c5d4b466db7e181d2601ecb46","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 13, Iss 12, p 2371 (2021)","raw_type":"article"},{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/91669","is_oa":true,"landing_page_url":"http://hdl.handle.net/10397/91669","pdf_url":null,"source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"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":null,"raw_type":"Journal/Magazine Article"},{"id":"pmh:oai:mdpi.com:/2072-4292/13/12/2371/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs13122371","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Remote Sensing; Volume 13; Issue 12; Pages: 2371","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs13122371","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13122371","pdf_url":"https://www.mdpi.com/2072-4292/13/12/2371/pdf?version=1624507593","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322598","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98"},{"id":"https://openalex.org/F4320327181","display_name":"Research Institute for Sustainable Urban Development, Hong Kong Polytechnic University","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3175761519.pdf","grobid_xml":"https://content.openalex.org/works/W3175761519.grobid-xml"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1979294389","https://openalex.org/W1981699551","https://openalex.org/W2032412180","https://openalex.org/W2058009001","https://openalex.org/W2121830753","https://openalex.org/W2137052305","https://openalex.org/W2150066425","https://openalex.org/W2162136131","https://openalex.org/W2236623899","https://openalex.org/W2277848489","https://openalex.org/W2336416123","https://openalex.org/W2419212966","https://openalex.org/W2482726005","https://openalex.org/W2564757755","https://openalex.org/W2745007981","https://openalex.org/W2745859992","https://openalex.org/W2746349752","https://openalex.org/W2774400800","https://openalex.org/W2888422218","https://openalex.org/W2896094353","https://openalex.org/W2901136733","https://openalex.org/W2909157769","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2963566952","https://openalex.org/W2963781713","https://openalex.org/W2990140977","https://openalex.org/W2998114618","https://openalex.org/W2999063329","https://openalex.org/W3089389996","https://openalex.org/W3089503906","https://openalex.org/W3091486995","https://openalex.org/W3095662029","https://openalex.org/W3097536687","https://openalex.org/W3125449081","https://openalex.org/W3129245057","https://openalex.org/W3145715369","https://openalex.org/W3164521861","https://openalex.org/W3205114100","https://openalex.org/W6662860747","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W4313886815"],"abstract_inverted_index":{"Accurate":[0],"positioning":[1],"and":[2,29,39,66,136],"mapping":[3],"are":[4],"significant":[5],"for":[6,36],"autonomous":[7],"systems":[8],"with":[9,84,231,256],"navigation":[10],"requirements.":[11],"In":[12],"this":[13,78,239],"paper,":[14],"a":[15,44,166,257],"coarse-to-fine":[16,167,222],"loosely-coupled":[17],"(LC)":[18],"LiDAR-inertial":[19,56,133],"odometry":[20,106],"(LC-LIO)":[21],"that":[22,149,216,245],"could":[23,250],"explore":[24],"the":[25,37,52,63,71,74,85,101,109,118,126,131,141,147,150,156,159,173,191,201,204,214,217,221,232,236,246],"complementariness":[26],"of":[27,43,104,111,117,130,158,193,203,238],"LiDAR":[28,105,112,160,194,223],"inertial":[30,67],"measurement":[31],"unit":[32],"(IMU)":[33],"was":[34,90,144,187,207,226],"proposed":[35,76,151,188,205,218,247],"real-time":[38],"accurate":[40],"pose":[41],"estimation":[42,181],"ground":[45],"vehicle":[46,72],"in":[47,77,165,197,228],"urban":[48],"environments.":[49],"Different":[50],"from":[51],"existing":[53,233],"tightly-coupled":[54],"(TC)":[55],"fusion":[57,134],"schemes":[58,135],"which":[59,89],"directly":[60],"use":[61],"all":[62],"considered":[64],"ranges":[65],"measurements":[68,161],"to":[69,107,189],"optimize":[70],"pose,":[73],"method":[75,182],"paper":[79],"performs":[80],"loosely-couped":[81],"integrated":[82],"optimization":[83,186],"high-frequency":[86],"motion":[87],"prediction,":[88],"produced":[91],"by":[92,172],"IMU":[93,175],"integration":[94],"based":[95],"on":[96,125,146,209,244],"optimized":[97],"results,":[98],"employed":[99,183],"as":[100],"initial":[102],"guess":[103],"approach":[108],"optimality":[110],"scan-to-map":[113,195,224],"registration.":[114],"As":[115],"one":[116],"prominent":[119],"contributions,":[120],"thorough":[121],"studies":[122],"were":[123],"conducted":[124],"performance":[127],"upper":[128],"bound":[129],"TC":[132],"LC":[137,185],"ones,":[138],"respectively.":[139],"Furthermore,":[140,200],"experimental":[142],"verification":[143],"performed":[145],"proposition":[148],"pipeline":[152],"can":[153],"fully":[154],"relax":[155],"potential":[157],"(centimeter-level":[162],"ranging":[163],"accuracy)":[164],"way":[168],"without":[169],"being":[170],"disturbed":[171],"unexpected":[174],"bias.":[176],"Moreover,":[177],"an":[178],"adaptive":[179],"covariance":[180],"during":[184],"explain":[190],"uncertainty":[192],"registration":[196,225],"dynamic":[198],"scenarios.":[199],"effectiveness":[202],"system":[206],"validated":[208],"challenging":[210],"real-world":[211],"datasets.":[212],"Meanwhile,":[213],"process":[215],"pipelines":[219],"realized":[220],"presented":[227],"detail.":[229],"Comparing":[230],"state-of-the-art":[234],"TC-LIO,":[235],"focus":[237],"study":[240],"would":[241],"be":[242],"placed":[243],"LC-LIO":[248],"work":[249],"achieve":[251],"similar":[252],"or":[253],"better":[254],"accuracy":[255],"reduced":[258],"computational":[259],"expense.":[260]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2021-07-05T00:00:00"}
