{"id":"https://openalex.org/W3002581747","doi":"https://doi.org/10.1002/rob.21936","title":"Multimodal localization: Stereo over LiDAR map","display_name":"Multimodal localization: Stereo over LiDAR map","publication_year":2020,"publication_date":"2020-01-21","ids":{"openalex":"https://openalex.org/W3002581747","doi":"https://doi.org/10.1002/rob.21936","mag":"3002581747"},"language":"en","primary_location":{"id":"doi:10.1002/rob.21936","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.21936","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045415760","display_name":"Xingxing Zuo","orcid":"https://orcid.org/0000-0003-4158-3153"},"institutions":[{"id":"https://openalex.org/I4210146501","display_name":"ZheJiang Institute For Food and Drug Control","ror":"https://ror.org/045c2a851","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210146501"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingxing Zuo","raw_affiliation_strings":["Institute of Cyber\u2010Systems and Control, College of Control Science and Engineering Zhejiang University Hangzhou China","Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4158-3153","affiliations":[{"raw_affiliation_string":"Institute of Cyber\u2010Systems and Control, College of Control Science and Engineering Zhejiang University Hangzhou China","institution_ids":["https://openalex.org/I4210146501"]},{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080291592","display_name":"Wenlong Ye","orcid":"https://orcid.org/0000-0002-4830-7760"},"institutions":[{"id":"https://openalex.org/I4210146501","display_name":"ZheJiang Institute For Food and Drug Control","ror":"https://ror.org/045c2a851","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210146501"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenlong Ye","raw_affiliation_strings":["Institute of Cyber\u2010Systems and Control, College of Control Science and Engineering Zhejiang University Hangzhou China","Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber\u2010Systems and Control, College of Control Science and Engineering Zhejiang University Hangzhou China","institution_ids":["https://openalex.org/I4210146501"]},{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101976414","display_name":"Yulin Yang","orcid":"https://orcid.org/0000-0002-9675-9147"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yulin Yang","raw_affiliation_strings":["Department of Mechanical Engineering University of Delaware Newark Delaware","Department of Mechanical Engineering, University of Delaware, Newark, Delaware"],"raw_orcid":"https://orcid.org/0000-0002-9675-9147","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering University of Delaware Newark Delaware","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, Delaware","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034431550","display_name":"Renjie Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146501","display_name":"ZheJiang Institute For Food and Drug Control","ror":"https://ror.org/045c2a851","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210146501"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renjie Zheng","raw_affiliation_strings":["Institute of Cyber\u2010Systems and Control, College of Control Science and Engineering Zhejiang University Hangzhou China","Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber\u2010Systems and Control, College of Control Science and Engineering Zhejiang University Hangzhou China","institution_ids":["https://openalex.org/I4210146501"]},{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086794522","display_name":"Teresa Vidal\u2010Calleja","orcid":"https://orcid.org/0000-0002-5763-9644"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Teresa Vidal\u2010Calleja","raw_affiliation_strings":["Centre for Autonomous Systems, School of Mechanical and Mechatronic Engineering University of Technology Sydney Sydney New South Wales Australia","Centre for Autonomous Systems, School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Sydney, New South Wales, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5763-9644","affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, School of Mechanical and Mechatronic Engineering University of Technology Sydney Sydney New South Wales Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Centre for Autonomous Systems, School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Sydney, New South Wales, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008502528","display_name":"Guoquan Huang","orcid":"https://orcid.org/0000-0001-9932-0685"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guoquan Huang","raw_affiliation_strings":["Department of Mechanical Engineering University of Delaware Newark Delaware","Department of Mechanical Engineering, University of Delaware, Newark, Delaware"],"raw_orcid":"https://orcid.org/0000-0001-9932-0685","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering University of Delaware Newark Delaware","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, Delaware","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724297","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0003-4822-8939"},"institutions":[{"id":"https://openalex.org/I4210146501","display_name":"ZheJiang Institute For Food and Drug Control","ror":"https://ror.org/045c2a851","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210146501"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Institute of Cyber\u2010Systems and Control, College of Control Science and Engineering Zhejiang University Hangzhou China","Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4822-8939","affiliations":[{"raw_affiliation_string":"Institute of Cyber\u2010Systems and Control, College of Control Science and Engineering Zhejiang University Hangzhou China","institution_ids":["https://openalex.org/I4210146501"]},{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100724297"],"corresponding_institution_ids":["https://openalex.org/I4210146501","https://openalex.org/I76130692"],"apc_list":{"value":4430,"currency":"USD","value_usd":4430},"apc_paid":null,"fwci":25.5016,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.98986211,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"37","issue":"6","first_page":"1003","last_page":"1026"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9986000061035156,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8160278797149658},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8122231960296631},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.804126501083374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7092492580413818},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6881641745567322},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6864012479782104},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6307899951934814},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.45720750093460083},{"id":"https://openalex.org/keywords/stereo-cameras","display_name":"Stereo cameras","score":0.4519491195678711},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.44129207730293274},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.4339008927345276},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.4225195348262787},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.3726668357849121},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.3561684489250183},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.22107037901878357},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.21836289763450623},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14276596903800964},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.09208190441131592}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8160278797149658},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8122231960296631},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.804126501083374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7092492580413818},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6881641745567322},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6864012479782104},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6307899951934814},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45720750093460083},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.4519491195678711},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.44129207730293274},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.4339008927345276},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.4225195348262787},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.3726668357849121},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.3561684489250183},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.22107037901878357},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.21836289763450623},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14276596903800964},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.09208190441131592},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/rob.21936","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.21936","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/146892","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/146892","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3379261794","display_name":null,"funder_award_id":"U1509210","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8732266741","display_name":"\u5ba4\u5185\u6311\u6218\u6027\u73af\u5883\u4e0b\u673a\u5668\u4eba\u89c6\u89c9\u5b9a\u4f4d\u5bfc\u822a\u7406\u8bba\u53ca\u5e94\u7528","funder_award_id":"61836015","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W173244073","https://openalex.org/W317935273","https://openalex.org/W1491719799","https://openalex.org/W1512698229","https://openalex.org/W1518580144","https://openalex.org/W1525964230","https://openalex.org/W1577287243","https://openalex.org/W1594957066","https://openalex.org/W1612997784","https://openalex.org/W1875235752","https://openalex.org/W1989174032","https://openalex.org/W1989484209","https://openalex.org/W1991544872","https://openalex.org/W1998728242","https://openalex.org/W2003919215","https://openalex.org/W2012502415","https://openalex.org/W2021851106","https://openalex.org/W2043732461","https://openalex.org/W2054969198","https://openalex.org/W2058009001","https://openalex.org/W2067776366","https://openalex.org/W2082312667","https://openalex.org/W2083624955","https://openalex.org/W2088616581","https://openalex.org/W2100315781","https://openalex.org/W2105741570","https://openalex.org/W2109271936","https://openalex.org/W2117005311","https://openalex.org/W2143238378","https://openalex.org/W2144824356","https://openalex.org/W2145178709","https://openalex.org/W2150066425","https://openalex.org/W2151290401","https://openalex.org/W2241066785","https://openalex.org/W2277848489","https://openalex.org/W2295862812","https://openalex.org/W2296228853","https://openalex.org/W2482726005","https://openalex.org/W2519911873","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2566597158","https://openalex.org/W2566688177","https://openalex.org/W2567328166","https://openalex.org/W2620406343","https://openalex.org/W2739624561","https://openalex.org/W2740634181","https://openalex.org/W2745007981","https://openalex.org/W2752709290","https://openalex.org/W2766213449","https://openalex.org/W2772036109","https://openalex.org/W2772641132","https://openalex.org/W2773447888","https://openalex.org/W2909955272","https://openalex.org/W2938170127","https://openalex.org/W2991243845","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3125449081","https://openalex.org/W6697304529","https://openalex.org/W6817117944"],"related_works":["https://openalex.org/W2759778908","https://openalex.org/W2798573714","https://openalex.org/W128884630","https://openalex.org/W2001412002","https://openalex.org/W2095498067","https://openalex.org/W2354637046","https://openalex.org/W1987397303","https://openalex.org/W2792859797","https://openalex.org/W2091611596","https://openalex.org/W1593347678"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2,39],"paper,":[3],"we":[4,41,84],"present":[5],"a":[6,27,32,47,60],"real\u2010time":[7,159],"high\u2010precision":[8],"visual":[9,45,50,53,62,133],"localization":[10,160],"system":[11,144],"for":[12,52,64],"an":[13],"autonomous":[14],"vehicle":[15,25],"which":[16],"employs":[17],"only":[18],"low\u2010cost":[19],"stereo":[20],"cameras":[21,81],"to":[22,113,128],"localize":[23],"the":[24,67,97,115,122,130],"with":[26,66],"priori":[28],"map":[29,51,63,125],"built":[30],"using":[31],"more":[33],"expensive":[34],"3D":[35,132],"LiDAR":[36,69,124],"sensor.":[37],"To":[38,71],"end,":[40],"construct":[42],"two":[43,73],"different":[44,78],"maps:":[46],"sparse":[48,131],"feature":[49],"odometry":[54],"(VO)":[55],"based":[56],"motion":[57,140],"tracking,":[58],"and":[59,82,152],"semidense":[61],"registration":[65,104],"prior":[68,123],"map.":[70],"register":[72],"point":[74,101],"clouds":[75],"sourced":[76],"from":[77,121],"modalities":[79],"(i.e.,":[80],"LiDAR),":[83],"leverage":[85],"probabilistic":[86],"weighted":[87],"normal":[88],"distributions":[89],"transformation":[90],"(ProW\u2010NDT),":[91],"by":[92],"particularly":[93],"taking":[94],"into":[95],"account":[96],"uncertainty":[98],"of":[99],"source":[100],"clouds.":[102],"The":[103,142],"results":[105],"are":[106,126],"then":[107],"fused":[108],"via":[109],"pose":[110],"graph":[111],"optimization":[112],"correct":[114],"VO":[116],"drift.":[117],"Moreover,":[118],"surfels":[119],"extracted":[120],"used":[127],"refine":[129],"features":[134],"that":[135,156],"will":[136],"further":[137],"improve":[138],"VO\u2010based":[139],"estimation.":[141],"proposed":[143],"has":[145],"been":[146],"tested":[147],"extensively":[148],"in":[149],"both":[150],"simulated":[151],"real\u2010world":[153],"experiments,":[154],"showing":[155],"robust,":[157],"high\u2010precision,":[158],"can":[161],"be":[162],"achieved.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
