{"id":"https://openalex.org/W4402130756","doi":"https://doi.org/10.3390/s24175672","title":"RLI-SLAM: Fast Robust Ranging-LiDAR-Inertial Tightly-Coupled Localization and Mapping","display_name":"RLI-SLAM: Fast Robust Ranging-LiDAR-Inertial Tightly-Coupled Localization and Mapping","publication_year":2024,"publication_date":"2024-08-31","ids":{"openalex":"https://openalex.org/W4402130756","doi":"https://doi.org/10.3390/s24175672","pmid":"https://pubmed.ncbi.nlm.nih.gov/39275582"},"language":"en","primary_location":{"id":"doi:10.3390/s24175672","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24175672","pdf_url":"https://www.mdpi.com/1424-8220/24/17/5672/pdf?version=1725086808","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","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/1424-8220/24/17/5672/pdf?version=1725086808","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Rui Xin","orcid":"https://orcid.org/0009-0001-8207-4112"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Xin","raw_affiliation_strings":["Department of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100874, China"],"raw_orcid":"https://orcid.org/0009-0001-8207-4112","affiliations":[{"raw_affiliation_string":"Department of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100874, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112898944","display_name":"Ningyan Guo","orcid":"https://orcid.org/0009-0009-2501-5026"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ningyan Guo","raw_affiliation_strings":["Department of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100874, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100874, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058777487","display_name":"Xingyu Ma","orcid":"https://orcid.org/0009-0002-1839-205X"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingyu Ma","raw_affiliation_strings":["Department of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100874, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100874, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100412387","display_name":"Gang Liu","orcid":"https://orcid.org/0000-0001-6676-6621"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Liu","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing 100084, China"],"raw_orcid":"https://orcid.org/0000-0001-6676-6621","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001714538","display_name":"Zhiyong Feng","orcid":"https://orcid.org/0000-0001-5322-222X"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Feng","raw_affiliation_strings":["Department of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100874, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100874, China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5112898944"],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":1.0568,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.86735813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"24","issue":"17","first_page":"5672","last_page":"5672"},"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":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/ranging","display_name":"Ranging","score":0.9301334619522095},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.825359582901001},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7142254710197449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6673871278762817},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5777010321617126},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5286284685134888},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5233211517333984},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5138585567474365},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4819467067718506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47714611887931824},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4178239703178406},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35603877902030945},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22614511847496033},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.16461148858070374},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.15322232246398926},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.142727792263031}],"concepts":[{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.9301334619522095},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.825359582901001},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7142254710197449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6673871278762817},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5777010321617126},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5286284685134888},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5233211517333984},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5138585567474365},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4819467067718506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47714611887931824},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4178239703178406},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35603877902030945},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22614511847496033},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.16461148858070374},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.15322232246398926},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.142727792263031},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/s24175672","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24175672","pdf_url":"https://www.mdpi.com/1424-8220/24/17/5672/pdf?version=1725086808","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:39275582","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39275582","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11398178","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11398178","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11398178/pdf/sensors-24-05672.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:0fd11e9648da45e0aea61cb28cc9ec58","is_oa":true,"landing_page_url":"https://doaj.org/article/0fd11e9648da45e0aea61cb28cc9ec58","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":"Sensors, Vol 24, Iss 17, p 5672 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24175672","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24175672","pdf_url":"https://www.mdpi.com/1424-8220/24/17/5672/pdf?version=1725086808","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321470","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4402130756.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1521464635","https://openalex.org/W1897495179","https://openalex.org/W1988322066","https://openalex.org/W2024885637","https://openalex.org/W2029449100","https://openalex.org/W2033574012","https://openalex.org/W2296228853","https://openalex.org/W2461937780","https://openalex.org/W2565998037","https://openalex.org/W2585219010","https://openalex.org/W2587415290","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2938818630","https://openalex.org/W2949050565","https://openalex.org/W2969022059","https://openalex.org/W3124420883","https://openalex.org/W3128707666","https://openalex.org/W3129245057","https://openalex.org/W3189526488","https://openalex.org/W3205380860","https://openalex.org/W3214208961","https://openalex.org/W4206486921","https://openalex.org/W4210423514","https://openalex.org/W4285512293","https://openalex.org/W4318473100"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W4312958259","https://openalex.org/W2103009189","https://openalex.org/W4308259661","https://openalex.org/W4390813131","https://openalex.org/W2349383066","https://openalex.org/W4328132048","https://openalex.org/W2991246638","https://openalex.org/W3135709989"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1,31],"and":[2,21,32,44,51,66,75,101,142,163],"mapping":[3,33,145,164],"(SLAM)":[4],"is":[5,38,59,119],"an":[6,121,129],"essential":[7],"component":[8],"for":[9],"smart":[10],"robot":[11],"operations":[12],"in":[13,46,96,105,146,182],"unknown":[14],"confined":[15],"spaces":[16],"such":[17],"as":[18],"indoors,":[19],"tunnels":[20],"underground.":[22],"This":[23,98],"paper":[24],"proposes":[25],"a":[26,112,147,171,177,183],"novel":[27],"tightly-coupled":[28],"ranging-LiDAR-inertial":[29],"simultaneous":[30],"framework,":[34],"namely":[35],"RLI-SLAM,":[36],"which":[37,135],"designed":[39],"to":[40,70],"be":[41,93],"high-accuracy,":[42],"fast":[43],"robust":[45,102],"the":[47,62,67,72,79,84,89,106,139,154,158],"long-term":[48,76,107],"fast-motion":[49,108],"scenario,":[50,109],"features":[52],"two":[53],"key":[54],"innovations.":[55],"The":[56,116],"first":[57],"one":[58,118],"tightly":[60],"fusing":[61],"ultra-wideband":[63],"(UWB)":[64],"ranging":[65,114,179],"inertial":[68,80],"sensor":[69,81],"prevent":[71],"initial":[73],"bias":[74],"drift":[77],"of":[78,88,157],"so":[82],"that":[83],"point":[85],"cloud":[86],"distortion":[87],"fast-moving":[90],"LiDAR":[91],"can":[92],"effectively":[94],"compensated":[95],"real-time.":[97],"enables":[99,143],"high-accuracy":[100],"state":[103,161],"estimation":[104,162],"even":[110,175],"with":[111,176],"single":[113,178],"measurement.":[115],"second":[117],"deploying":[120],"efficient":[122],"loop":[123],"closure":[124],"detection":[125],"module":[126],"by":[127],"using":[128],"incremental":[130],"smoothing":[131],"factor":[132],"graph":[133],"approach,":[134],"seamlessly":[136],"integrates":[137],"into":[138],"RLI-SLAM":[140],"system,":[141],"high-precision":[144],"challenging":[148,184],"environment.":[149,185],"Extensive":[150],"benchmark":[151],"comparisons":[152],"validate":[153],"superior":[155],"accuracy":[156],"proposed":[159],"new":[160],"framework":[165],"over":[166],"other":[167],"state-of-the-art":[168],"systems":[169],"at":[170],"low":[172],"computational":[173],"complexity,":[174],"measurement":[180],"and/or":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}