[{"data":1,"prerenderedAt":540},["ShallowReactive",2],{"method-licfusion2_2020":3},{"method":4,"reference":54,"equipment":78,"figures":105,"results":106},{"id":5,"label":6,"shortName":7,"title":8,"year":9,"era":10,"cluster":11,"scope":12,"keyIdeaZh":13,"keyIdeaEn":14,"fulltextStatus":15,"publicationStatus":16,"recommendation":17,"constructionRelevance":18,"validationEnvironment":19,"strengths":23,"limitations":27,"sensors":32,"platform":36,"estimator":38,"association":39,"timeModel":40,"deskew":41,"loopClosure":42,"globalOptimization":43,"mapRepresentation":44,"prior":43,"outputGeometry":45,"compute":46,"codeUrl":47,"codeLicense":48,"relatedVersions":49},"licfusion2_2020","Zuo et al., 2020","LIC-Fusion 2.0","LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking",2020,"recent","C07","odometry","LIC-Fusion 2.0 將光達處理改為滑動視窗內的平面特徵追蹤：以 IMU 做運動補償後擷取低曲率平面點，跨多次掃描追蹤並初始化平面，且考慮幀間轉換不確定性來剔除錯誤匹配。論文同時分析光達慣性子系統在平面特徵下的可觀測性（observability），指出某些運動會使時空校正退化，並以蒙地卡羅模擬驗證估計一致性。","Adds sliding-window plane-feature tracking with uncertainty-aware outlier rejection and an observability analysis of degenerate motions for spatio-temporal calibration to the LIC-Fusion filter.","full_text_reviewed","peer_reviewed_published","supplementary","室內測試於浙江大學教學大樓（完工建物）與 Vicon 室；報告長走廊僅見平行平面時的退化，對工地走廊類場景具參考意義（推論），但無工地驗證。",[20,21,22],"simulation","controlled_experiment","completed_building",[24,25,26],"Observability analysis identifies degenerate motions for LiDAR-IMU calibration with plane features, validated in Monte-Carlo simulation (Sec. IV, Table I, Table III, Fig. 3)","Lowest average ATE on the six Vicon-room sequences (2.410 deg \u002F 0.113 m, five runs each) against OpenVINS-IC, Proposed-LI, LOAM, LIO-MAP and LIC-Fusion (Table VI); no failure on the seven teaching-building sequences, where the authors claim higher accuracy on most sequences (Sec. VI-A, Table V)","With online calibration from perturbed initial values, simulated ATE and NEES stay close to the true-calibration case (0.129 deg \u002F 0.021 m vs 0.118 deg \u002F 0.020 m) (Table III)",[28,29,30,31],"The LiDAR-IMU subsystem (Proposed-LI) exceeds 30 m final drift on teaching-building Seq 3 and Seq 6, where long corridors show only parallel planes (Sec. VI-A, Table V)","Start-to-end drift is not uniformly smallest: LIO-MAP has smaller drift in every printed component on Seq 1 and Seq 7, and LOAM on Seq 2 (Table V)","Evaluation limited to indoor trajectories of about 34 to 237 m with start-to-end drift or Vicon ATE; no map accuracy assessment (Sec. VI, Tables V-VI)","Edge-feature tracking left for future work (Sec. VII)",[33,34,35],"3D LiDAR (Velodyne VLP-16, 10 Hz)","IMU (Xsens, model not reported, 400 Hz)","monocular global-shutter camera (model not reported, 20 Hz, 1920x1200)",[20,37],"not_verified (sensor suite carried indoors)","sliding-window MSCKF-type filter with online spatio-temporal calibration; visual pipeline based on OpenVINS","IMU-motion-compensated low-curvature planar points tracked across the sliding window as plane features, with an outlier test accounting for inter-frame transformation uncertainty; sparse visual features","discrete cloned poses; all time offsets estimated online from zero initial guess","IMU-propagated poses are buffered and interpolated to each LiDAR point time (SO(3) interpolation for orientation, linear for position); all points are transformed to the pose at the sweep start time (Sec. III-A)","none reported","none","sliding-window plane features and SLAM plane landmarks; no global map reported","trajectory only (no map product reported)","IMU-camera subsystem 16.8 ms and LiDAR-IMU subsystem 40.2 ms average on i7-8086K for one sequence (Sec. VI-B)",null,"not_verified",[50],{"relation":51,"title":52,"doi_or_url":53},"preprint","LIC-Fusion 2.0 arXiv (2020-08-17)","https:\u002F\u002Farxiv.org\u002Fabs\u002F2008.07196",{"id":5,"kind":55,"shortName":7,"title":8,"authors":56,"year":9,"venue":64,"venueType":65,"publisher":66,"volumeIssuePages":67,"doi":68,"arxivId":69,"url":53,"firstPublicDate":70,"publicationStatus":16,"metadataStatus":71,"fulltextStatus":15,"era":10,"classicReason":72,"codeUrl":47,"cluster":11,"topics":73,"mdpi":74,"verification":75,"label":6,"fulltextRoute":76,"versionRead":77,"addedByCensus":74},"method",[57,58,59,60,61,62,63],"Xingxing Zuo","Yulin Yang","Patrick Geneva","Jiajun Lv","Yong Liu","Guoquan Huang","Marc Pollefeys","2020 IEEE\u002FRSJ International Conference on Intelligent Robots and Systems (IROS)","conference","IEEE","pp. 5112-5119","10.1109\u002Firos45743.2020.9340704","2008.07196","2020-08-17","metadata_verified","not_applicable",[11],false,"confirmed","arXiv","arXiv 2008.07196 v1 (2020-08-17), all 8 pages; IEEE version of record (IROS 2020, pp. 5112-5119) obtained through NTU institutional access and compared: besides the IEEE header, the version of record carries many minor wording edits (for example 'LiDAR-IMU' renamed 'IMU-LiDAR' throughout, a reworded abstract sentence, 'our own multi-sensor platform', citation style), with no change to the method, equations or any table value",[79,85,89,93,100],{"category":80,"model":81,"canonical":81,"role":82,"dataset":47,"specs":83,"locator":84},"lidar","Velodyne VLP-16","method input","10 Hz (Table IV)","Sec. VI; Fig. 4; Table IV",{"category":86,"model":87,"canonical":87,"role":82,"dataset":47,"specs":88,"locator":84},"imu","Xsens IMU (model not reported)","400 Hz (Table IV)",{"category":90,"model":91,"canonical":91,"role":82,"dataset":47,"specs":92,"locator":84},"camera","global-shutter monocular camera (model not reported)","20 Hz, 1920x1200 (Table IV)",{"category":94,"model":95,"canonical":95,"role":96,"dataset":97,"specs":98,"locator":99},"other","VICON motion capture system (model not reported)","reference or ground truth","Vicon Room sequences","not_reported","Sec. VI-B",{"category":101,"model":102,"canonical":102,"role":103,"dataset":47,"specs":104,"locator":99},"compute","Intel i7-8086k CPU@4.0GHz","compute for runtime","desktop computer (Sec. VI-B)",[],{"totalRows":107,"groupCount":108,"groups":109,"others":533},45,5,[110,197,403,457],{"slug":111,"group":112,"sourceId":5,"sourceLabel":6,"table":113,"selfRows":114,"metrics":115,"seqs":128,"entrants":133,"cells":145,"outcomes":191,"locators":192,"hardware":193,"wordings":194,"notes":195},"licfusion2-2020-table-iii","licfusion2_2020:Table III","Table III",16,[116,119,122,126],{"label":117,"unit":118,"statistic":98,"alignment":98},"ATE (deg), averaged over 12 runs","deg",{"label":120,"unit":121,"statistic":98,"alignment":98},"ATE (m), averaged over 12 runs","m",{"label":123,"unit":124,"statistic":125,"alignment":98},"orientation NEES (consistency), averaged over 12 runs","unitless","mean",{"label":127,"unit":124,"statistic":125,"alignment":98},"position NEES (consistency), averaged over 12 runs",[129],{"dataset":130,"sequence":131,"environment":132},"simulation (virtual room)","12 Monte-Carlo runs","simulated indoor room",[134,137,139,141,143],{"name":135,"methodId":5,"linkable":136,"proposed":136,"self":136},"LIC-Fusion 2.0 (true w\u002F calib)",true,{"name":138,"methodId":5,"linkable":136,"proposed":136,"self":136},"LIC-Fusion 2.0 (bad w\u002F calib)",{"name":140,"methodId":5,"linkable":136,"proposed":136,"self":136},"LIC-Fusion 2.0 (bad w\u002Fo calib)",{"name":142,"methodId":5,"linkable":136,"proposed":136,"self":136},"LIC-Fusion 2.0 (true w\u002Fo calib)",{"name":144,"methodId":47,"linkable":74,"proposed":74,"self":74},"IMU-camera subsystem (IC true w\u002Fo calib)",[146,150,153,156,159,161,163,165,167,169,171,173,175,177,178,180,182,185,187,189],[147,147,147,148,149,147,149,149,147],0,0.118,-1,[147,151,147,152,149,147,149,149,147],1,0.02,[147,154,147,155,149,147,149,149,147],2,2.21,[147,157,147,158,149,147,149,149,147],3,0.185,[151,147,147,160,149,147,149,149,147],0.129,[151,151,147,162,149,147,149,149,147],0.021,[151,154,147,164,149,147,149,149,147],2.216,[151,157,147,166,149,147,149,149,147],0.221,[154,147,147,168,149,147,149,149,147],0.148,[154,151,147,170,149,147,149,149,147],0.024,[154,154,147,172,149,147,149,149,147],2.677,[154,157,147,174,149,147,149,149,147],0.246,[157,147,147,176,149,147,149,149,147],0.122,[157,151,147,162,149,147,149,149,147],[157,154,147,179,149,147,149,149,147],2.233,[157,157,147,181,149,147,149,149,147],0.208,[183,147,147,184,149,147,149,149,147],4,0.159,[183,151,147,186,149,147,149,149,147],0.027,[183,154,147,188,149,147,149,149,147],2.237,[183,157,147,190,149,147,149,149,147],0.314,[],[113],[],[],[196],"Monte-Carlo simulation, 12 runs averaged; virtual room with structural planes; 'true' starts from ground-truth calibration, 'bad' from perturbed calibration; IC = IMU-camera subsystem only (Table II settings: LiDAR 7 Hz, camera 10 Hz, IMU 200 Hz, LiDAR point noise 0.03 m)",{"slug":198,"group":199,"sourceId":5,"sourceLabel":6,"table":200,"selfRows":201,"metrics":202,"seqs":207,"entrants":224,"cells":239,"outcomes":396,"locators":398,"hardware":399,"wordings":400,"notes":401},"licfusion2-2020-table-vi","licfusion2_2020:Table VI","Table VI",14,[203,205],{"label":204,"unit":118,"statistic":98,"alignment":98},"averaged ATE, orientation (deg)",{"label":206,"unit":121,"statistic":98,"alignment":98},"averaged ATE, position (m)",[208,212,214,216,218,220,222],{"dataset":209,"sequence":210,"environment":211},"Vicon Room sequences (authors' data)","Seq 1 (42.62 m)","indoor Vicon motion-capture room (cluttered)",{"dataset":209,"sequence":213,"environment":211},"Seq 2 (84.16 m)",{"dataset":209,"sequence":215,"environment":211},"Seq 3 (33.92 m)",{"dataset":209,"sequence":217,"environment":211},"Seq 4 (53.14 m)",{"dataset":209,"sequence":219,"environment":211},"Seq 5 (49.74 m)",{"dataset":209,"sequence":221,"environment":211},"Seq 6 (87.87 m)",{"dataset":209,"sequence":223,"environment":211},"Average of Seq 1-6",[225,226,228,230,233,236],{"name":7,"methodId":5,"linkable":136,"proposed":136,"self":136},{"name":227,"methodId":47,"linkable":74,"proposed":74,"self":74},"OpenVINS-IC",{"name":229,"methodId":47,"linkable":74,"proposed":74,"self":74},"Proposed-LI",{"name":231,"methodId":232,"linkable":136,"proposed":74,"self":74},"LOAM","loam2014",{"name":234,"methodId":235,"linkable":136,"proposed":74,"self":74},"LIO-MAP","liomapping2019",{"name":237,"methodId":238,"linkable":136,"proposed":74,"self":74},"LIC-Fusion","licfusion2019",[240,242,244,246,248,250,252,254,256,258,260,262,264,267,268,270,272,274,276,278,280,282,284,286,287,289,290,292,294,296,298,300,302,304,306,308,310,312,314,316,318,320,322,324,326,328,330,332,334,336,338,340,342,344,346,348,350,351,352,354,356,357,358,359,360,362,364,366,368,370,372,374,375,377,379,381,382,383,384,386,388,390,392,394],[147,147,147,241,149,147,149,149,147],2.537,[147,151,147,243,149,147,149,149,147],0.097,[147,147,151,245,149,147,149,149,147],1.87,[147,151,151,247,149,147,149,149,147],0.145,[147,147,154,249,149,147,149,149,147],1.94,[147,151,154,251,149,147,149,149,147],0.101,[147,147,157,253,149,147,149,149,147],2.081,[147,151,157,255,149,147,149,149,147],0.116,[147,147,183,257,149,147,149,149,147],2.71,[147,151,183,259,149,147,149,149,147],0.104,[147,147,108,261,149,147,149,149,147],3.32,[147,151,108,263,149,147,149,149,147],0.113,[147,147,265,266,149,147,149,149,147],6,2.41,[147,151,265,263,149,147,149,149,147],[151,147,147,269,149,147,149,149,147],2.625,[151,151,147,271,149,147,149,149,147],0.094,[151,147,151,273,149,147,149,149,147],1.741,[151,151,151,275,149,147,149,149,147],0.177,[151,147,154,277,149,147,149,149,147],3.131,[151,151,154,279,149,147,149,149,147],0.273,[151,147,157,281,149,147,149,149,147],2.404,[151,151,157,283,149,147,149,149,147],0.115,[151,147,183,285,149,147,149,149,147],2.962,[151,151,183,160,149,147,149,149,147],[151,147,108,288,149,147,149,149,147],3.953,[151,151,108,160,149,147,149,149,147],[151,147,265,291,149,147,149,149,147],2.803,[151,151,265,293,149,147,149,149,147],0.153,[154,147,147,295,149,147,149,149,147],2.333,[154,151,147,297,149,147,149,149,147],0.199,[154,147,151,299,149,147,149,149,147],3.325,[154,151,151,301,149,147,149,149,147],0.444,[154,147,154,303,149,147,149,149,147],2.81,[154,151,154,305,149,147,149,149,147],0.306,[154,147,157,307,149,147,149,149,147],5.335,[154,151,157,309,149,147,149,149,147],0.272,[154,147,183,311,149,147,149,149,147],3.332,[154,151,183,313,149,147,149,149,147],0.44,[154,147,108,315,149,147,149,149,147],4.866,[154,151,108,317,149,147,149,149,147],0.412,[154,147,265,319,149,147,149,149,147],3.667,[154,151,265,321,149,147,149,149,147],0.345,[157,147,147,323,149,147,149,149,147],5.88,[157,151,147,325,149,147,149,149,147],0.156,[157,147,151,327,149,147,149,149,147],6.414,[157,151,151,329,149,147,149,149,147],0.134,[157,147,154,331,149,147,149,149,147],15.384,[157,151,154,333,149,147,149,149,147],0.333,[157,147,157,335,149,147,149,149,147],6.354,[157,151,157,337,149,147,149,149,147],0.15,[157,147,183,339,149,147,149,149,147],5.542,[157,151,183,341,149,147,149,149,147],0.14,[157,147,108,343,149,147,149,149,147],7.095,[157,151,108,345,149,147,149,149,147],0.188,[157,147,265,347,149,147,149,149,147],7.778,[157,151,265,349,149,147,149,149,147],0.183,[183,147,147,47,147,147,149,149,147],[183,151,147,47,147,147,149,149,147],[183,147,151,353,149,147,149,149,147],5.608,[183,151,151,355,149,147,149,149,147],0.214,[183,147,154,47,147,147,149,149,147],[183,151,154,47,147,147,149,149,147],[183,147,157,47,147,147,149,149,147],[183,151,157,47,147,147,149,149,147],[183,147,183,361,149,147,149,149,147],4.89,[183,151,183,363,149,147,149,149,147],0.17,[183,147,108,365,149,147,149,149,147],12.862,[183,151,108,367,149,147,149,149,147],0.238,[183,147,265,369,149,147,149,149,147],7.786,[183,151,265,371,149,147,149,149,147],0.207,[108,147,147,373,149,147,149,149,147],2.345,[108,151,147,243,149,147,149,149,147],[108,147,151,376,149,147,149,149,147],1.879,[108,151,151,378,149,147,149,149,147],0.173,[108,147,154,380,149,147,149,149,147],1.973,[108,151,154,259,149,147,149,149,147],[108,147,157,47,147,147,149,149,147],[108,151,157,47,147,147,149,149,147],[108,147,183,385,149,147,149,149,147],2.743,[108,151,183,387,149,147,149,149,147],0.1,[108,147,108,389,149,147,149,149,147],3.788,[108,151,108,391,149,147,149,149,147],0.131,[108,147,265,393,149,147,149,149,147],2.546,[108,151,265,395,149,147,149,149,147],0.121,[397],"failed",[200],[],[],[402],"Averaged ATE of 5 runs on 6 Vicon-room sequences (cluttered room, Vicon ground truth), orientation (deg) and position (m); ATE computed following Zhang and Scaramuzza [23]; '-' = translational error above 20 m. The Average column is printed by the authors (for LIO-MAP and LIC-Fusion it averages only the sequences that did not fail).",{"slug":404,"group":405,"sourceId":5,"sourceLabel":6,"table":406,"selfRows":407,"metrics":408,"seqs":423,"entrants":440,"cells":442,"outcomes":450,"locators":452,"hardware":453,"wordings":454,"notes":455},"licfusion2-2020-table-v","licfusion2_2020:Table V","Table V",7,[409,411,413,415,417,419,421],{"label":410,"unit":121,"statistic":125,"alignment":43},"averaged start-to-end drift error vector as printed: (0.213, 0.074, 0.338) m",{"label":412,"unit":121,"statistic":125,"alignment":43},"averaged start-to-end drift error vector as printed: (0.136, -0.107, -0.140) m",{"label":414,"unit":121,"statistic":125,"alignment":43},"averaged start-to-end drift error vector as printed: (0.689, -0.404, -0.172) m",{"label":416,"unit":121,"statistic":125,"alignment":43},"averaged start-to-end drift error vector as printed: (0.456, 0.122, -0.322) m",{"label":418,"unit":121,"statistic":125,"alignment":43},"averaged start-to-end drift error vector as printed: (0.054, -0.168, -0.027) m",{"label":420,"unit":121,"statistic":125,"alignment":43},"averaged start-to-end drift error vector as printed: (0.025, -0.654, 0.199) m",{"label":422,"unit":121,"statistic":125,"alignment":43},"averaged start-to-end drift error vector as printed: (1.911, 0.226, -0.166) m",[424,428,430,432,434,436,438],{"dataset":425,"sequence":426,"environment":427},"Teaching Building sequences (authors' data)","Seq 1 (about 108 m)","indoor teaching building (completed building), corridors and stairs",{"dataset":425,"sequence":429,"environment":427},"Seq 2 (about 124 m)",{"dataset":425,"sequence":431,"environment":427},"Seq 3 (about 237 m)",{"dataset":425,"sequence":433,"environment":427},"Seq 4 (about 195 m)",{"dataset":425,"sequence":435,"environment":427},"Seq 5 (about 85 m)",{"dataset":425,"sequence":437,"environment":427},"Seq 6 (about 140 m)",{"dataset":425,"sequence":439,"environment":427},"Seq 7 (about 83 m)",[441],{"name":7,"methodId":5,"linkable":136,"proposed":136,"self":136},[443,444,445,446,447,448,449],[147,147,147,47,147,147,149,149,147],[147,151,151,47,147,147,149,149,147],[147,154,154,47,147,147,149,149,147],[147,157,157,47,147,147,149,149,147],[147,183,183,47,147,147,149,149,147],[147,108,108,47,147,147,149,149,147],[147,265,265,47,147,147,149,149,147],[451],"other: three-component vector printed, no scalar reported",[406],[],[],[456],"Averaged start-to-end drift of 5 runs on 7 teaching-building sequences (Zhejiang University) that start and end at the same position; each cell printed as a three-component vector in metres without axis labels; '-' = severe failure with final drift norm larger than 30 m. No scalar is printed, so value is null and the printed vector is kept in metric_as_written.",{"slug":458,"group":459,"sourceId":460,"sourceLabel":461,"table":462,"selfRows":265,"metrics":463,"seqs":467,"entrants":482,"cells":490,"outcomes":526,"locators":527,"hardware":529,"wordings":530,"notes":531},"clic2023-table-vii","clic2023:Table VII","clic2023","Lv et al., 2023","Table VII",[464],{"label":465,"unit":121,"statistic":466,"alignment":98},"APE (RMSE, meter)","RMSE",[468,472,474,476,478,480],{"dataset":469,"sequence":470,"environment":471},"CLIC Vicon Room dataset (authors)","Seq1 (43 m)","indoor motion-capture room, handheld",{"dataset":469,"sequence":473,"environment":471},"Seq2 (84 m)",{"dataset":469,"sequence":475,"environment":471},"Seq3 (34 m)",{"dataset":469,"sequence":477,"environment":471},"Seq4 (53 m)",{"dataset":469,"sequence":479,"environment":471},"Seq5 (50 m)",{"dataset":469,"sequence":481,"environment":471},"Seq6 (88 m)",[483,486,488],{"name":484,"methodId":485,"linkable":136,"proposed":74,"self":74},"LVI-SAM (w\u002Fo loop)","lvisam2021",{"name":487,"methodId":5,"linkable":136,"proposed":74,"self":136},"LIC-Fusion 2.0 (w\u002Fo loop)",{"name":489,"methodId":460,"linkable":136,"proposed":136,"self":74},"CLIC (w\u002Fo loop)",[491,493,495,497,499,501,503,505,507,509,511,513,515,517,519,520,522,524],[147,147,147,492,149,147,149,149,147],0.393,[147,147,151,494,149,147,149,149,147],0.232,[147,147,154,496,149,147,149,149,147],0.364,[147,147,157,498,149,147,149,149,147],0.395,[147,147,183,500,149,147,149,149,147],0.155,[147,147,108,502,149,147,149,149,147],0.459,[151,147,147,504,149,147,149,149,147],0.033,[151,147,151,506,149,147,149,149,147],0.096,[151,147,154,508,149,147,149,149,147],0.052,[151,147,157,510,149,147,149,149,147],0.092,[151,147,183,512,149,147,149,149,147],0.044,[151,147,108,514,149,147,149,149,147],0.046,[154,147,147,516,149,147,149,149,147],0.08,[154,147,151,518,149,147,149,149,147],0.073,[154,147,154,518,149,147,149,149,147],[154,147,157,521,149,147,149,149,147],0.089,[154,147,183,523,149,147,149,149,147],0.171,[154,147,108,525,149,147,149,149,147],0.128,[],[528],"Table VII; Sec. VI-C",[],[],[532],"Self-collected Vicon Room dataset (indoor, handheld random motion, same rig as YQ: 16-beam LiDAR, camera, IMU); motion-capture ground truth; APE RMSE in metres; all without loop closure",[534],{"group":535,"slug":536,"sourceLabel":6,"table":537,"selfRows":154,"datasets":538},"licfusion2_2020:Text Sec.VI-B","licfusion2-2020-text-sec-vi-b","Text Sec.VI-B",[539],"authors' data",1790510664152]