{"id":"https://openalex.org/W4409321083","doi":"https://doi.org/10.1017/s0263574725000463","title":"Tightly coupled SLAM system for indoor complex scenes","display_name":"Tightly coupled SLAM system for indoor complex scenes","publication_year":2025,"publication_date":"2025-04-10","ids":{"openalex":"https://openalex.org/W4409321083","doi":"https://doi.org/10.1017/s0263574725000463"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725000463","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574725000463","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/11A53385AAB7F5620C42049F4C0FBC8E/S0263574725000463a.pdf/div-class-title-tightly-coupled-slam-system-for-indoor-complex-scenes-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/11A53385AAB7F5620C42049F4C0FBC8E/S0263574725000463a.pdf/div-class-title-tightly-coupled-slam-system-for-indoor-complex-scenes-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102371512","display_name":"Chen Da","orcid":null},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chen Da","raw_affiliation_strings":["Applied Technology College, Soochow University, Suzhou, China"],"raw_orcid":"https://orcid.org/0009-0002-6565-8535","affiliations":[{"raw_affiliation_string":"Applied Technology College, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102992319","display_name":"Zailiang Chen","orcid":"https://orcid.org/0000-0003-3542-8261"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zailiang Chen","raw_affiliation_strings":["Applied Technology College, Soochow University, Suzhou, China","School of Mechanical and Electric Engineering, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Technology College, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]},{"raw_affiliation_string":"School of Mechanical and Electric Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059803422","display_name":"Tianlin Song","orcid":null},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianlin Song","raw_affiliation_strings":["Applied Technology College, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Technology College, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002042063","display_name":"Yaping Lu","orcid":"https://orcid.org/0000-0002-1766-3308"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaping Lu","raw_affiliation_strings":["Applied Technology College, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Technology College, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5102371512"],"corresponding_institution_ids":["https://openalex.org/I3923682"],"apc_list":null,"apc_paid":null,"fwci":10.0877,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.97131957,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"43","issue":"5","first_page":"1708","last_page":"1721"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9966999888420105,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.995199978351593,"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/computer-science","display_name":"Computer science","score":0.5398437976837158},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5350193977355957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5076612234115601},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.34351998567581177},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.23621073365211487}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5398437976837158},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5350193977355957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5076612234115601},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.34351998567581177},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.23621073365211487}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725000463","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574725000463","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/11A53385AAB7F5620C42049F4C0FBC8E/S0263574725000463a.pdf/div-class-title-tightly-coupled-slam-system-for-indoor-complex-scenes-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1017/s0263574725000463","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574725000463","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/11A53385AAB7F5620C42049F4C0FBC8E/S0263574725000463a.pdf/div-class-title-tightly-coupled-slam-system-for-indoor-complex-scenes-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4409321083.pdf","grobid_xml":"https://content.openalex.org/works/W4409321083.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1967740178","https://openalex.org/W1976086917","https://openalex.org/W2062635757","https://openalex.org/W2130422193","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2461937780","https://openalex.org/W2745859992","https://openalex.org/W2773447888","https://openalex.org/W2797843868","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2953205834","https://openalex.org/W2998994296","https://openalex.org/W3022297613","https://openalex.org/W3118327058","https://openalex.org/W3119795077","https://openalex.org/W3124420883","https://openalex.org/W3127368595","https://openalex.org/W3129245057","https://openalex.org/W3132394694","https://openalex.org/W3136926086","https://openalex.org/W3209959857","https://openalex.org/W4226264213","https://openalex.org/W4308497005","https://openalex.org/W4317794983","https://openalex.org/W4319315025","https://openalex.org/W4366987497","https://openalex.org/W4383753343","https://openalex.org/W4386766487","https://openalex.org/W4389252481","https://openalex.org/W6854896492"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Abstract":[0],"Cartographer":[1],"is":[2,108,144],"an":[3,54],"algorithm":[4],"that":[5],"was":[6],"open":[7],"sourced":[8],"by":[9],"Google":[10],"in":[11,146],"2016":[12],"and":[13,38,50,61,85,115,134,154,164,170],"adapted":[14],"to":[15,93,102,110,138,150,159],"multiple":[16],"sensors.":[17],"To":[18],"address":[19],"issues":[20],"of":[21,30,41,125,156],"the":[22,27,35,47,82,86,90,95,103,112,121,126,152,160],"original":[23],"algorithm,":[24],"such":[25],"as":[26,100,117],"negative":[28],"impact":[29],"outlier":[31],"point":[32,83,130],"cloud":[33,131],"on":[34,69],"scan":[36],"matching,":[37],"low":[39],"accuracy":[40],"position":[42],"fusion.":[43],"This":[44],"paper":[45],"preprocesses":[46],"sensor":[48],"data":[49],"presents":[51],"HT-Carto":[52,166],",":[53],"improved":[55],"h":[56],"ybrid":[57],"point-cloud":[58],"filtering":[59],"system,":[60],"a":[62,175],"t":[63],"ightly":[64],"coupled":[65],"LiDAR/IMU":[66],"framework":[67],"based":[68],"Carto":[70],"grapher\u2019s":[71],"front-end.":[72],"The":[73,106,123],"inertial":[74],"measurement":[75],"unit":[76],"(IMU)":[77],"provides":[78],"initial":[79],"values":[80],"for":[81],"cloud,":[84],"IMU":[87],"pre-integration":[88],"combines":[89],"scan-matched":[91],"pose":[92,114],"construct":[94],"factors,":[96],"which":[97],"are":[98,136],"added":[99],"constraints":[101],"factor":[104],"graph.":[105],"result":[107],"used":[109,145],"update":[111],"current":[113],"work":[116],"odometer":[118],"residuals":[119],"at":[120],"back-end.":[122],"optimization":[124],"selected":[127],"strategy":[128],"during":[129],"preprocessing,":[132],"PassThrough,":[133],"RadiusOutlierRemoval":[135],"combined":[137],"ensure":[139],"quality.":[140],"An":[141],"actual":[142],"vehicle":[143],"complex":[147],"indoor":[148],"environment":[149],"verify":[151],"stability":[153],"robustness":[155],"HT-Carto.":[157],"Compared":[158],"Cartographer,":[161],"Karto,":[162],"Hector,":[163],"GMapping,":[165],"demonstrates":[167],"better":[168],"localization":[169],"mapping,":[171],"it":[172],"can":[173],"obtain":[174],"more":[176],"precise":[177],"trajectory.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}