{"id":"https://openalex.org/W4292551935","doi":"https://doi.org/10.3390/rs14164031","title":"LIDAR-Inertial Real-Time State Estimator with Rod-Shaped and Planar Feature","display_name":"LIDAR-Inertial Real-Time State Estimator with Rod-Shaped and Planar Feature","publication_year":2022,"publication_date":"2022-08-18","ids":{"openalex":"https://openalex.org/W4292551935","doi":"https://doi.org/10.3390/rs14164031"},"language":"en","primary_location":{"id":"doi:10.3390/rs14164031","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14164031","pdf_url":"https://www.mdpi.com/2072-4292/14/16/4031/pdf?version=1660898897","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/2072-4292/14/16/4031/pdf?version=1660898897","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065924399","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0003-4211-2337"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Liu","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070109127","display_name":"Shuguo Pan","orcid":"https://orcid.org/0000-0003-0724-9020"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuguo Pan","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060460699","display_name":"Wang Gao","orcid":"https://orcid.org/0000-0002-7782-9533"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Gao","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024459629","display_name":"Chun Ma","orcid":"https://orcid.org/0000-0003-0841-7540"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chun Ma","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047594833","display_name":"Fengshuo Jia","orcid":"https://orcid.org/0000-0003-2579-9763"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengshuo Jia","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101690932","display_name":"Xinyu Lu","orcid":"https://orcid.org/0000-0003-4709-6612"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Lu","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5070109127"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.15239191,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":"16","first_page":"4031","last_page":"4031"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.9979000091552734,"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/lidar","display_name":"Lidar","score":0.8926899433135986},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7772723436355591},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7572196125984192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7392470836639404},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7096440196037292},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.5647280216217041},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5553746819496155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.528933584690094},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5027549266815186},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4678925573825836},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.43227308988571167},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4258645176887512},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.4164695739746094},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18587374687194824},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16513437032699585},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15758705139160156},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11597245931625366}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8926899433135986},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7772723436355591},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7572196125984192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7392470836639404},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7096440196037292},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.5647280216217041},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5553746819496155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.528933584690094},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5027549266815186},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4678925573825836},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.43227308988571167},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4258645176887512},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.4164695739746094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18587374687194824},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16513437032699585},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15758705139160156},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11597245931625366},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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":3,"locations":[{"id":"doi:10.3390/rs14164031","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14164031","pdf_url":"https://www.mdpi.com/2072-4292/14/16/4031/pdf?version=1660898897","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:fd13bcf3f19143379210221106d5fdc3","is_oa":true,"landing_page_url":"https://doaj.org/article/fd13bcf3f19143379210221106d5fdc3","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":"Remote Sensing, Vol 14, Iss 16, p 4031 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/14/16/4031/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs14164031","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","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs14164031","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14164031","pdf_url":"https://www.mdpi.com/2072-4292/14/16/4031/pdf?version=1660898897","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":0.46000000834465027,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G2376276132","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3214915449","display_name":null,"funder_award_id":"2242021R41134","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4302849700","display_name":null,"funder_award_id":"2021YFB","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6177088464","display_name":null,"funder_award_id":"2021YFB3900804","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321106","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4292551935.pdf","grobid_xml":"https://content.openalex.org/works/W4292551935.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1567242735","https://openalex.org/W2049981393","https://openalex.org/W2051610568","https://openalex.org/W2084849910","https://openalex.org/W2137052305","https://openalex.org/W2150066425","https://openalex.org/W2154459632","https://openalex.org/W2165558283","https://openalex.org/W2198334007","https://openalex.org/W2236623899","https://openalex.org/W2277848489","https://openalex.org/W2461937780","https://openalex.org/W2482726005","https://openalex.org/W2565029242","https://openalex.org/W2745859992","https://openalex.org/W2909908358","https://openalex.org/W2915768291","https://openalex.org/W2938818630","https://openalex.org/W2940793188","https://openalex.org/W3003651427","https://openalex.org/W3089503906","https://openalex.org/W3091486995","https://openalex.org/W3095662029","https://openalex.org/W3124420883","https://openalex.org/W3125449081","https://openalex.org/W3129245057","https://openalex.org/W3133648073","https://openalex.org/W3175761519","https://openalex.org/W4205574455","https://openalex.org/W4210423514","https://openalex.org/W4220658632","https://openalex.org/W4246483956","https://openalex.org/W4253459495","https://openalex.org/W4282598689","https://openalex.org/W4285512293","https://openalex.org/W4292544413"],"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/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W4313288997"],"abstract_inverted_index":{"State":[0],"estimation":[1],"and":[2,8,26,33,65,76,95,139,152,159,175,222,251],"mapping":[3,34,233],"based":[4,132],"on":[5,133],"Light":[6],"Detection":[7],"Ranging":[9],"(LIDAR)":[10],"are":[11],"important":[12],"for":[13,45,103],"autonomous":[14],"systems.":[15],"Point":[16],"cloud":[17,42,57],"registration":[18,58],"is":[19,50,59,70,96,116],"a":[20,39,55,110],"crucial":[21],"module":[22,234],"affecting":[23],"the":[24,53,73,88,100,107,119,124,128,130,136,146,150,156,187,195,197,230,248],"accuracy":[25,185],"real-time":[27,161],"performance":[28],"of":[29,235],"LIDAR":[30,75,104,120],"simultaneous":[31],"localization":[32],"(SLAM).":[35],"In":[36,52,106,127,229],"this":[37,209],"paper,":[38],"novel":[40],"point":[41,56],"feature":[43,67],"selection":[44],"LIDAR-inertial":[46,137,162],"tightly":[47],"coupled":[48],"systems":[49],"proposed.":[51],"front-end,":[54],"carried":[60],"out":[61],"after":[62],"marking":[63],"rod-shaped":[64],"planar":[66],"information":[68],"which":[69],"different":[71],"from":[72],"existing":[74],"inertial":[77],"measurement":[78,138],"unit":[79],"(IMU)":[80],"integration":[81],"scheme.":[82],"This":[83],"preprocessing":[84,250],"method":[85],"subsequently":[86],"reduces":[87],"outliers.":[89],"IMU":[90,125],"pre-integration":[91],"outputs":[92],"high-frequency":[93],"result":[94],"used":[97],"to":[98,144,247],"provide":[99],"initial":[101],"value":[102],"solution.":[105],"scan-to-map":[108],"module,":[109],"computationally":[111],"efficient":[112],"graph":[113,253],"optimization":[114,131],"framework":[115],"applied.":[117],"Moreover,":[118],"odometry":[121],"further":[122],"constrains":[123],"states.":[126],"back-end,":[129,153],"sliding-window":[134],"incorporates":[135],"loop":[140],"closure":[141],"global":[142],"constraints":[143],"reduce":[145],"cumulative":[147],"error.":[148],"Combining":[149],"front-end":[151,249],"we":[154,166],"propose":[155],"low":[157],"drift":[158],"high":[160],"positioning":[163,184],"system.":[164],"Furthermore,":[165],"conducted":[167],"an":[168],"exhaustive":[169],"comparison":[170],"in":[171,190,208,214,224],"open":[172],"data":[173],"sequences":[174],"real-word":[176],"experiments.":[177],"The":[178],"proposed":[179],"system":[180,239],"outperforms":[181],"much":[182],"higher":[183],"than":[186],"state-of-the-art":[188],"methods":[189],"various":[191],"scenarios.":[192],"Compared":[193],"with":[194],"LIO-SAM,":[196],"absolute":[198],"trajectory":[199],"error":[200],"(ATE)":[201],"average":[202],"RMSE":[203],"(Root":[204],"Mean":[205],"Square":[206],"Error)":[207],"study":[210],"increases":[211],"by":[212],"64.45%":[213],"M2DGR":[215],"street":[216],"dataset":[217],"(street_01,":[218],"04,":[219],"07,":[220],"10)":[221],"24.85%":[223],"our":[225,238],"actual":[226],"scene":[227],"datasets.":[228],"most":[231],"time-consuming":[232],"each":[236],"system,":[237],"runtime":[240],"can":[241],"also":[242],"be":[243],"significantly":[244],"reduced":[245],"due":[246],"back-end":[252],"model.":[254]},"counts_by_year":[],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
