{"id":"https://openalex.org/W4413811285","doi":"https://doi.org/10.3390/s25175352","title":"Comparative Analysis of LiDAR-SLAM Systems: A Study of a Motorized Optomechanical LiDAR and an MEMS Scanner LiDAR","display_name":"Comparative Analysis of LiDAR-SLAM Systems: A Study of a Motorized Optomechanical LiDAR and an MEMS Scanner LiDAR","publication_year":2025,"publication_date":"2025-08-29","ids":{"openalex":"https://openalex.org/W4413811285","doi":"https://doi.org/10.3390/s25175352","pmid":"https://pubmed.ncbi.nlm.nih.gov/40942782"},"language":"en","primary_location":{"id":"doi:10.3390/s25175352","doi":"https://doi.org/10.3390/s25175352","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s25175352","pdf_url":null,"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,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"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"},"volume":null,"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/s25175352","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037399172","display_name":"Simone Fortuna","orcid":"https://orcid.org/0009-0005-0884-6582","observed_orcids":["https://orcid.org/0009-0005-0884-6582","https://orcid.org/0000-0001-8805-1029"]},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Fortuna","raw_affiliation_strings":["CISAS \u201cGiuseppe Colombo\u201d, University of Padova, Via Venezia 1, 35131 Padova, Italy","CISAS \"Giuseppe Colombo\", University of Padova, Via Venezia 1, 35131 Padova, Italy"],"raw_orcid":"https://orcid.org/0009-0005-0884-6582","affiliations":[{"raw_affiliation_string":"CISAS \u201cGiuseppe Colombo\u201d, University of Padova, Via Venezia 1, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"CISAS \"Giuseppe Colombo\", University of Padova, Via Venezia 1, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024705334","display_name":"Sebastiano Chiodini","orcid":"https://orcid.org/0000-0001-8471-5289","observed_orcids":["https://orcid.org/0000-0001-8471-5289"]},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sebastiano Chiodini","raw_affiliation_strings":["CISAS \u201cGiuseppe Colombo\u201d, University of Padova, Via Venezia 1, 35131 Padova, Italy","Department of Industrial Engineering (DII), University of Padova, Via Venezia 1, 35131 Padova, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8471-5289","affiliations":[{"raw_affiliation_string":"CISAS \u201cGiuseppe Colombo\u201d, University of Padova, Via Venezia 1, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"Department of Industrial Engineering (DII), University of Padova, Via Venezia 1, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088947015","display_name":"Andrea Valmorbida","orcid":"https://orcid.org/0000-0001-7929-7561","observed_orcids":["https://orcid.org/0000-0001-7929-7561"]},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Valmorbida","raw_affiliation_strings":["CISAS \u201cGiuseppe Colombo\u201d, University of Padova, Via Venezia 1, 35131 Padova, Italy","Department of Industrial Engineering (DII), University of Padova, Via Venezia 1, 35131 Padova, Italy"],"raw_orcid":"https://orcid.org/0000-0001-7929-7561","affiliations":[{"raw_affiliation_string":"CISAS \u201cGiuseppe Colombo\u201d, University of Padova, Via Venezia 1, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"Department of Industrial Engineering (DII), University of Padova, Via Venezia 1, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031811472","display_name":"Marco Pertile","orcid":"https://orcid.org/0000-0003-4940-6792","observed_orcids":["https://orcid.org/0000-0003-4940-6792"]},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Marco Pertile","raw_affiliation_strings":["CISAS \u201cGiuseppe Colombo\u201d, University of Padova, Via Venezia 1, 35131 Padova, Italy","Department of Industrial Engineering (DII), University of Padova, Via Venezia 1, 35131 Padova, Italy"],"raw_orcid":"https://orcid.org/0000-0003-4940-6792","affiliations":[{"raw_affiliation_string":"CISAS \u201cGiuseppe Colombo\u201d, University of Padova, Via Venezia 1, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"Department of Industrial Engineering (DII), University of Padova, Via Venezia 1, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5031811472"],"corresponding_institution_ids":["https://openalex.org/I138689650"],"apc_list":{"value":2600,"currency":"CHF","value_usd":3137},"apc_paid":{"value":2600,"currency":"CHF","value_usd":3137},"fwci":2.7488,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.91212669,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"25","issue":"17","first_page":"5352","last_page":"5352"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.0,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/lidar-slam","display_name":"LiDAR SLAM","score":0.9900000095367432},{"id":"https://openalex.org/keywords/trajectory-estimation","display_name":"trajectory estimation","score":0.5230000019073486},{"id":"https://openalex.org/keywords/autonomous-ground-vehicles","display_name":"autonomous ground vehicles","score":0.5440000295639038},{"id":"https://openalex.org/keywords/field-of-view","display_name":"field of view","score":0.7099999785423279},{"id":"https://openalex.org/keywords/sensor-noise","display_name":"sensor noise","score":0.4090000092983246},{"id":"https://openalex.org/keywords/feature-tracking","display_name":"feature tracking","score":0.5389999747276306}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9347738027572632},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.6955769658088684},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.6454735398292542},{"id":"https://openalex.org/C37977207","wikidata":"https://www.wikidata.org/wiki/Q175561","display_name":"Microelectromechanical systems","level":2,"score":0.6093679666519165},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.4556269645690918},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.362109899520874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32578110694885254},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2823735475540161},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26441681385040283},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.23864132165908813},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.1887691617012024},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17009970545768738},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15682056546211243},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.11759039759635925}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s25175352","doi":"https://doi.org/10.3390/s25175352","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s25175352","pdf_url":null,"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,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"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:40942782","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40942782","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,"listed_in":[],"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":"Journal Article"},{"id":"pmh:oai:doaj.org/article:dd66cd888c5647e2871f828329d1f10b","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/dd66cd888c5647e2871f828329d1f10b","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,"listed_in":[],"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 25, Iss 17, p 5352 (2025)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:12431302","doi":null,"is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12431302/","pdf_url":null,"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,"listed_in":[],"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:www.research.unipd.it:11577/3562652","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/11577/3562652","pdf_url":null,"source":{"id":"https://openalex.org/S4306402547","display_name":"Padua Research Archive (University of Padova)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"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":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3390/s25175352","doi":"https://doi.org/10.3390/s25175352","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s25175352","pdf_url":null,"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,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"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":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W77958542","https://openalex.org/W2073199141","https://openalex.org/W2411093439","https://openalex.org/W2529001419","https://openalex.org/W2893950494","https://openalex.org/W2907848307","https://openalex.org/W2995791973","https://openalex.org/W3015235064","https://openalex.org/W3017763864","https://openalex.org/W3095739904","https://openalex.org/W3100435238","https://openalex.org/W3111859331","https://openalex.org/W3134782952","https://openalex.org/W3167441898","https://openalex.org/W3174764393","https://openalex.org/W3190364853","https://openalex.org/W4210423514","https://openalex.org/W4297005851","https://openalex.org/W4324365873","https://openalex.org/W4378473445","https://openalex.org/W4385324927","https://openalex.org/W4406800215"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W2594043982","https://openalex.org/W3036493597","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W4308547747","https://openalex.org/W2131575646","https://openalex.org/W2283846904","https://openalex.org/W2024964285"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,69,96,112,142,153,174,189],"Mapping":[3],"(SLAM)":[4],"is":[5,16],"crucial":[6],"for":[7,51,124,170,177],"the":[8,21,24,28,32,97,125,133,171,178,184],"safe":[9],"navigation":[10],"of":[11,23,31,39,66,94,110,149,167,186],"autonomous":[12],"systems.":[13],"Its":[14],"accuracy":[15],"not":[17],"based":[18,81,99],"solely":[19],"on":[20,36,56,82,100,121],"robustness":[22],"algorithm":[25],"employed":[26],"or":[27],"metrological":[29],"performances":[30],"sensor,":[33],"but":[34],"rather":[35],"a":[37,47,83,91,107,113,122,136],"combination":[38],"both":[40,155],"factors.":[41],"In":[42],"this":[43],"work,":[44],"we":[45],"present":[46],"comprehensive":[48],"comparison":[49],"framework":[50],"evaluating":[52],"LiDAR-SLAM":[53],"systems,":[54],"focusing":[55],"key":[57],"performance":[58,200],"indicators":[59],"including":[60],"absolute":[61,164],"trajectory":[62,159,165],"error,":[63],"uncertainty,":[64],"number":[65],"tracked":[67],"features,":[68],"computational":[70],"time.":[71],"Our":[72],"case":[73],"study":[74],"compares":[75],"two":[76],"LiDAR-inertial":[77],"SLAM":[78,199],"configurations:":[79],"one":[80],"motorized":[84],"optomechanical":[85],"scanner":[86],"(the":[87,103],"Ouster":[88],"OS1)":[89],"with":[90,106,162],"360\u00b0":[92],"field":[93,109,148],"view":[95,111],"other":[98],"MEMS":[101],"scanners":[102],"Livox":[104],"Horizon)":[105],"limited":[108],"non-repetitive":[114],"scanning":[115],"pattern.":[116],"The":[117],"sensors":[118],"were":[119,129],"mounted":[120],"UGV":[123,134],"experiments,":[126],"where":[127],"data":[128],"collected":[130],"by":[131],"driving":[132],"along":[135],"predefined":[137],"path":[138],"at":[139],"different":[140],"speeds":[141],"angles.":[143],"Despite":[144],"substantial":[145],"differences":[146],"in":[147,201],"view,":[150],"detection":[151],"range,":[152],"noise,":[154],"systems":[156],"demonstrated":[157],"comparable":[158],"estimation":[160],"performance,":[161],"average":[163],"errors":[166],"0.25":[168],"m":[169,176],"Livox-based":[172],"system":[173],"0.24":[175],"Ouster-based":[179],"system.":[180],"These":[181],"findings":[182],"underscore":[183],"importance":[185],"sensor-algorithm":[187],"co-design":[188],"demonstrate":[190],"that":[191],"even":[192],"cost-effective,":[193],"lower-field-of-view":[194],"solutions":[195],"can":[196],"deliver":[197],"competitive":[198],"real-world":[202],"conditions.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":7}],"updated_date":"2026-10-14T16:39:01.820549","created_date":"2025-10-10T00:00:00"}