{"id":"https://openalex.org/W4413525602","doi":"https://doi.org/10.1002/rob.70026","title":"Degeneracy\u2010Resistant LiDAR\u2010SLAM Algorithm Based on Geometric and Visual Features' Fusion","display_name":"Degeneracy\u2010Resistant LiDAR\u2010SLAM Algorithm Based on Geometric and Visual Features' Fusion","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4413525602","doi":"https://doi.org/10.1002/rob.70026"},"language":"en","primary_location":{"id":"doi:10.1002/rob.70026","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.70026","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/A5073019303","display_name":"Daping Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Daping Yang","raw_affiliation_strings":["Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China"],"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104086426","display_name":"Wenzhong Shi","orcid":"https://orcid.org/0000-0002-3405-9874"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Wenzhong Shi","raw_affiliation_strings":["Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China"],"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037478762","display_name":"Shuyu Zhang","orcid":"https://orcid.org/0000-0003-2038-0349"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shuyu Zhang","raw_affiliation_strings":["Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China"],"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074228107","display_name":"Mingyan Nie","orcid":"https://orcid.org/0000-0002-3806-1998"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Mingyan Nie","raw_affiliation_strings":["Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China"],"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101829801","display_name":"Yancong Wei","orcid":"https://orcid.org/0000-0003-4766-8959"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yitao Wei","raw_affiliation_strings":["Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China"],"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111169328","display_name":"Qiru Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qiru Zhong","raw_affiliation_strings":["Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China"],"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103037321","display_name":"Shengyu Lu","orcid":"https://orcid.org/0009-0007-6642-0568"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shengyu Lu","raw_affiliation_strings":["Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China"],"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002501779","display_name":"Ameer Hamza Khan","orcid":"https://orcid.org/0000-0002-5367-5277"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Ameer Hamza Khan","raw_affiliation_strings":["Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China"],"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo\u2010Informatics The Hong Kong Polytechnic University Hung Hom China","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5002501779","https://openalex.org/A5104086426"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":{"value":4430,"currency":"USD","value_usd":4430},"apc_paid":null,"fwci":3.4506,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93602765,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"43","issue":"1","first_page":"330","last_page":"352"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9975000023841858,"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":0.996399998664856,"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/degeneracy","display_name":"Degeneracy (biology)","score":0.8132377862930298},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.6657062768936157},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6331318616867065},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5587328672409058},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5582844018936157},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5238428115844727},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48389801383018494},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2409941554069519},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1980208456516266},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10099321603775024},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07111749053001404},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06049540638923645},{"id":"https://openalex.org/keywords/bioinformatics","display_name":"Bioinformatics","score":0.04878845810890198}],"concepts":[{"id":"https://openalex.org/C2777727622","wikidata":"https://www.wikidata.org/wiki/Q5251772","display_name":"Degeneracy (biology)","level":2,"score":0.8132377862930298},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.6657062768936157},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6331318616867065},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5587328672409058},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5582844018936157},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5238428115844727},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48389801383018494},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2409941554069519},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1980208456516266},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10099321603775024},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07111749053001404},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06049540638923645},{"id":"https://openalex.org/C60644358","wikidata":"https://www.wikidata.org/wiki/Q128570","display_name":"Bioinformatics","level":1,"score":0.04878845810890198},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.70026","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.70026","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1507589574","https://openalex.org/W1979159029","https://openalex.org/W2006501475","https://openalex.org/W2083624955","https://openalex.org/W2085261163","https://openalex.org/W2117228865","https://openalex.org/W2153226019","https://openalex.org/W2296228853","https://openalex.org/W2405964867","https://openalex.org/W2417065300","https://openalex.org/W2582998992","https://openalex.org/W2601530120","https://openalex.org/W2610512230","https://openalex.org/W2612146718","https://openalex.org/W2620757719","https://openalex.org/W2791498806","https://openalex.org/W2909908358","https://openalex.org/W2927636958","https://openalex.org/W2940793188","https://openalex.org/W2943928188","https://openalex.org/W2994073334","https://openalex.org/W3039808820","https://openalex.org/W3044549235","https://openalex.org/W3089503906","https://openalex.org/W3090923812","https://openalex.org/W3093434340","https://openalex.org/W3095662029","https://openalex.org/W3116959466","https://openalex.org/W3127368595","https://openalex.org/W3132394694","https://openalex.org/W3161855852","https://openalex.org/W3176159010","https://openalex.org/W3176945756","https://openalex.org/W3190891462","https://openalex.org/W3206845495","https://openalex.org/W4205288507","https://openalex.org/W4205560903","https://openalex.org/W4205574455","https://openalex.org/W4206152389","https://openalex.org/W4210636664","https://openalex.org/W4244791762","https://openalex.org/W4246193054","https://openalex.org/W4285200012","https://openalex.org/W4312376118","https://openalex.org/W4312496578","https://openalex.org/W4323314875","https://openalex.org/W4383108920","https://openalex.org/W4385757050","https://openalex.org/W4387880350","https://openalex.org/W4388329501","https://openalex.org/W4401415917","https://openalex.org/W4402475153","https://openalex.org/W4402568967","https://openalex.org/W4403791370","https://openalex.org/W4404838553"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423"],"abstract_inverted_index":{"ABSTRACT":[0],"Simultaneous":[1],"localization":[2,151],"and":[3,20,23,31,44,101,115,135,152,160,197,222,241,247,281,287,296,320,335],"mapping":[4,153],"(SLAM)":[5],"is":[6],"at":[7],"the":[8,76,82,109,120,129,207,229,256,285,290,304,342,346,362],"core":[9],"of":[10,78,87,111,206,216,231,289,306,330,352,364],"robotics":[11],"automation,":[12],"relying":[13],"on":[14,75,264,271,341],"sensors":[15],"such":[16,63],"as":[17,64,98],"Laser":[18,317,322],"Detection":[19],"Ranging":[21],"(LiDAR)":[22],"cameras":[24],"to":[25,97,127,191,194,255],"digitally":[26],"construct":[27],"a":[28,143,175,185],"robot's":[29],"environment":[30,139],"determine":[32],"its":[33,136],"position":[34],"within.":[35],"LiDAR\u2010based":[36],"SLAM":[37,71,121,146,259],"outperforms":[38,327],"visual\u2010SLAM,":[39],"especially":[40],"in":[41,123,132,154,214,234,293,328],"low":[42],"visibility":[43],"challenging":[45,155,252],"lighting":[46],"conditions.":[47],"However,":[48],"these":[49],"systems":[50],"still":[51],"face":[52],"challenges":[53],"like":[54],"scene":[55],"degradation":[56],"when":[57],"dealing":[58],"with":[59,84,171,210,277],"feature\u2010deficient":[60],"degenerate":[61],"environments":[62,134],"long":[65],"corridors":[66],"or":[67],"tunnels.":[68],"Traditional":[69],"LiDAR":[70,258],"algorithms":[72],"primarily":[73],"focus":[74],"extraction":[77],"geometric":[79,114,172,265],"features":[80,118,163,173],"from":[81,164],"scene,":[83],"less":[85],"utilization":[86],"visual":[88,162],"information,":[89],"for":[90,148,179],"example,":[91],"LiDAR\u2010generated":[92,116,165],"reflectivity":[93],"(also":[94],"commonly":[95],"referred":[96],"intensity":[99],"image)":[100],"depth":[102],"imagery.":[103],"In":[104,299],"this":[105],"study,":[106],"we":[107,302],"explore":[108],"potential":[110],"fusing":[112],"both":[113,294],"image":[117],"into":[119],"system":[122],"various":[124,251],"forms,":[125],"aiming":[126],"enhance":[128],"system's":[130],"adaptability":[131],"diverse":[133],"robustness":[137,286],"against":[138,244],"degeneracy.":[140],"We":[141,182],"propose":[142],"new":[144],"multifeature\u2010modality":[145],"designed":[147],"robust":[149],"real\u2010time":[150],"environments.":[156,298],"Our":[157,325],"method":[158,233,326],"enhances":[159],"extracts":[161],"images,":[166],"which":[167],"are":[168],"then":[169],"fused":[170],"through":[174],"holistic":[176],"residual":[177],"function":[178],"pose":[180,332],"optimization.":[181],"also":[183],"integrate":[184],"deep":[186],"learning\u2010based":[187],"object":[188],"removal":[189],"algorithm":[190,209],"reduce":[192],"sensitivity":[193],"moving":[195],"objects":[196],"sensor":[198],"noise.":[199],"This":[200],"article":[201],"conducts":[202],"an":[203],"in\u2010depth":[204],"comparison":[205],"proposed":[208,291],"several":[211],"leading":[212],"technologies":[213],"terms":[215,329],"scan":[217,237],"matching":[218,238,338],"accuracy,":[219],"robustness,":[220],"odometry,":[221],"mapping.":[223],"The":[224],"experimental":[225],"results":[226],"vividly":[227],"showcase":[228],"superiority":[230],"our":[232,368],"achieving":[235],"high":[236],"success":[239],"rates":[240],"strong":[242],"resilience":[243],"random":[245],"outliers":[246],"Gaussian":[248],"noise":[249],"across":[250],"scenarios,":[253],"compared":[254],"existing":[257],"methods":[260],"that":[261],"rely":[262],"solely":[263],"features.":[266],"Extensive":[267],"field":[268],"experiments":[269],"conducted":[270],"publicly":[272],"available":[273],"data":[274],"sets,":[275],"along":[276],"independently":[278],"developed":[279],"backpack\u2010based":[280],"robotic":[282],"platforms,":[283],"validated":[284],"accuracy":[288],"approach":[292],"indoor":[295],"outdoor":[297],"3D":[300,307],"mapping,":[301],"quantified":[303],"precision":[305],"points":[308],"by":[309,314,356],"comparing":[310],"point":[311,336],"clouds":[312],"collected":[313],"high\u2010precision":[315],"Mobile":[316],"Scanning":[318,323],"(MLS)":[319],"Terrestrial":[321],"(TLS).":[324],"absolute":[331],"errors":[333],"(APE)":[334],"cloud":[337],"quality.":[339],"Based":[340],"fitted":[343],"Weibull":[344],"distribution,":[345],"root":[347],"mean":[348],"square":[349],"error":[350],"(RMS)":[351],"point\u2010to\u2010plane":[353],"distances":[354],"improved":[355],"20%.":[357],"Additionally,":[358],"ablation":[359],"tests":[360],"revealed":[361],"efficacy":[363],"different":[365],"components":[366],"within":[367],"system.":[369]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-02T08:37:19.008085","created_date":"2025-10-10T00:00:00"}
