{"id":"https://openalex.org/W4311529231","doi":"https://doi.org/10.3390/rs14236133","title":"Improved LiDAR Localization Method for Mobile Robots Based on Multi-Sensing","display_name":"Improved LiDAR Localization Method for Mobile Robots Based on Multi-Sensing","publication_year":2022,"publication_date":"2022-12-03","ids":{"openalex":"https://openalex.org/W4311529231","doi":"https://doi.org/10.3390/rs14236133"},"language":"en","primary_location":{"id":"doi:10.3390/rs14236133","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14236133","pdf_url":"https://www.mdpi.com/2072-4292/14/23/6133/pdf?version=1670378412","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/2072-4292/14/23/6133/pdf?version=1670378412","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100601303","display_name":"Yanjie Liu","orcid":"https://orcid.org/0000-0002-7274-4979"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjie Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115076700","display_name":"Chao Wang","orcid":"https://orcid.org/0000-0003-4887-923X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chao Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100341990","display_name":"Wu H","orcid":"https://orcid.org/0009-0008-8295-0400"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Heng Wu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086405236","display_name":"Yanlong Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanlong Wei","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103095219","display_name":"Meixuan Ren","orcid":"https://orcid.org/0009-0002-1375-4621"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meixuan Ren","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008282144","display_name":"Changsen Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changsen Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5115076700"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":15.3977,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.99117374,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"14","issue":"23","first_page":"6133","last_page":"6133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9926999807357788,"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/odometer","display_name":"Odometer","score":0.9105568528175354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6654394268989563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5967996716499329},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5954718589782715},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5952352285385132},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.589618980884552},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5737000703811646},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.5320532917976379},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5319452881813049},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.48105573654174805},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4539475440979004},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.4141598343849182},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3692382276058197},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.36843031644821167},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.36368992924690247},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3597109019756317},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1259443461894989}],"concepts":[{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.9105568528175354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6654394268989563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5967996716499329},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5954718589782715},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5952352285385132},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.589618980884552},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5737000703811646},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.5320532917976379},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5319452881813049},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.48105573654174805},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4539475440979004},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.4141598343849182},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3692382276058197},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.36843031644821167},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.36368992924690247},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3597109019756317},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1259443461894989}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs14236133","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14236133","pdf_url":"https://www.mdpi.com/2072-4292/14/23/6133/pdf?version=1670378412","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:61a5381e57dd4a93935a4012b3ec9cea","is_oa":true,"landing_page_url":"https://doaj.org/article/61a5381e57dd4a93935a4012b3ec9cea","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 23, p 6133 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/14/23/6133/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs14236133","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 14; Issue 23; Pages: 6133","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs14236133","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14236133","pdf_url":"https://www.mdpi.com/2072-4292/14/23/6133/pdf?version=1670378412","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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4311529231.pdf","grobid_xml":"https://content.openalex.org/works/W4311529231.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W2092921","https://openalex.org/W1567242735","https://openalex.org/W1848593906","https://openalex.org/W1962649668","https://openalex.org/W1977556410","https://openalex.org/W2000646173","https://openalex.org/W2125715583","https://openalex.org/W2130763585","https://openalex.org/W2131752723","https://openalex.org/W2131865378","https://openalex.org/W2144491133","https://openalex.org/W2153361276","https://openalex.org/W2296267969","https://openalex.org/W2402412545","https://openalex.org/W2584127903","https://openalex.org/W2740156952","https://openalex.org/W2765854388","https://openalex.org/W2888098792","https://openalex.org/W2946589087","https://openalex.org/W2980325010","https://openalex.org/W2981864880","https://openalex.org/W3025490466","https://openalex.org/W3033784954","https://openalex.org/W3124928558","https://openalex.org/W3128192223","https://openalex.org/W3133648073","https://openalex.org/W3176137604","https://openalex.org/W3194993662","https://openalex.org/W3198960119","https://openalex.org/W3199602293","https://openalex.org/W3206873062","https://openalex.org/W3210550848","https://openalex.org/W4213454840","https://openalex.org/W4220899417","https://openalex.org/W4226278891","https://openalex.org/W4246297065","https://openalex.org/W4249866455","https://openalex.org/W4280601076","https://openalex.org/W4282830511","https://openalex.org/W4285029564","https://openalex.org/W4292451821","https://openalex.org/W6644682428","https://openalex.org/W6662860747","https://openalex.org/W6679875354","https://openalex.org/W6683151470","https://openalex.org/W6800903841","https://openalex.org/W6839264474"],"related_works":["https://openalex.org/W2536504876","https://openalex.org/W2989564752","https://openalex.org/W2382799461","https://openalex.org/W2225974670","https://openalex.org/W2089381258","https://openalex.org/W2091861768","https://openalex.org/W3163880895","https://openalex.org/W2103755599","https://openalex.org/W2125871801","https://openalex.org/W2984070345"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5],"localization":[6,16],"method":[7,26],"applicable":[8],"to":[9,78,90,179,209],"3D":[10,32,127],"LiDAR":[11,15],"by":[12,59,107,147,162,166],"improving":[13],"the":[14,36,45,53,65,75,81,85,92,97,101,115,119,126,134,138,153,157,167,172,181,186,198,210],"algorithm,":[17],"such":[18],"as":[19,74,118],"AMCL":[20,89,108,163,173,200,211],"(Adaptive":[21],"Monte":[22],"Carlo":[23],"Localization).":[24],"The":[25,141],"utilizes":[27],"multiple":[28],"sensing":[29],"information,":[30],"including":[31],"LiDAR,":[33],"IMU":[34,50],"and":[35,38,49,64,125,171,177,191,206],"odometer,":[37,170],"can":[39],"be":[40],"used":[41,73],"without":[42],"GNSS.":[43],"Firstly,":[44],"wheel":[46],"speed":[47],"odometer":[48,144],"data":[51,67],"of":[52,84,96,185],"mobile":[54,98,187],"robot":[55],"are":[56,72,112,175],"multi-source":[57,70],"fused":[58],"EKF":[60],"(Extended":[61],"Kalman":[62],"Filter),":[63],"sensor":[66],"obtained":[68,146],"after":[69],"fusion":[71],"motion":[76],"model":[77],"participate":[79],"in":[80,88,152],"positional":[82],"prediction":[83],"particle":[86],"set":[87],"obtain":[91],"initial":[93,120,158],"positioning":[94,183,204],"information":[95],"robot.":[99,188],"Then,":[100],"position":[102,121,159],"pose":[103,122,160],"difference":[104],"values":[105],"output":[106,161,180],"at":[109],"adjacent":[110],"moments":[111],"substituted":[113],"into":[114],"PL-ICP":[116,139,154],"algorithm":[117,201],"transformation":[123],"matrix,":[124],"laser":[128,143,169],"point":[129],"cloud":[130],"is":[131,145,164,195],"aligned":[132],"with":[133],"nonlinear":[135],"system":[136],"using":[137],"algorithm.":[140,155,212],"three-dimensional":[142,168],"LM":[148],"(Levenberg--Marquard)":[149],"iterative":[150],"solution":[151],"Finally,":[156],"corrected":[165],"particles":[174],"weighted":[176],"sampled":[178],"final":[182],"result":[184],"Through":[189],"simulation":[190],"practical":[192],"experiments,":[193],"it":[194],"verified":[196],"that":[197],"improved":[199],"has":[202],"higher":[203],"accuracy":[205],"stability":[207],"compared":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":13}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
