{"id":"https://openalex.org/W4406678399","doi":"https://doi.org/10.1108/ir-06-2024-0265","title":"TC-Mapper: tightly-coupled LiDAR-inertial SLAM for robotic mapping in complex environments","display_name":"TC-Mapper: tightly-coupled LiDAR-inertial SLAM for robotic mapping in complex environments","publication_year":2025,"publication_date":"2025-01-21","ids":{"openalex":"https://openalex.org/W4406678399","doi":"https://doi.org/10.1108/ir-06-2024-0265"},"language":"en","primary_location":{"id":"doi:10.1108/ir-06-2024-0265","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2024-0265","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5114928875","display_name":"Xiangdi Yue","orcid":"https://orcid.org/0000-0001-9453-7981"},"institutions":[{"id":"https://openalex.org/I173759888","display_name":"Hunan Normal University","ror":"https://ror.org/053w1zy07","country_code":"CN","type":"education","lineage":["https://openalex.org/I173759888"]},{"id":"https://openalex.org/I3130607311","display_name":"Changsha Normal University","ror":"https://ror.org/02sqk3z62","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130607311"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiangdi Yue","raw_affiliation_strings":["Hunan Normal University School of Engineering and Design, , Changsha,"],"affiliations":[{"raw_affiliation_string":"Hunan Normal University School of Engineering and Design, , Changsha,","institution_ids":["https://openalex.org/I3130607311","https://openalex.org/I173759888"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100362822","display_name":"Jiawei Chen","orcid":"https://orcid.org/0000-0002-8195-1582"},"institutions":[{"id":"https://openalex.org/I173759888","display_name":"Hunan Normal University","ror":"https://ror.org/053w1zy07","country_code":"CN","type":"education","lineage":["https://openalex.org/I173759888"]},{"id":"https://openalex.org/I3130607311","display_name":"Changsha Normal University","ror":"https://ror.org/02sqk3z62","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130607311"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Chen","raw_affiliation_strings":["Hunan Normal University School of Engineering and Design, , Changsha,"],"affiliations":[{"raw_affiliation_string":"Hunan Normal University School of Engineering and Design, , Changsha,","institution_ids":["https://openalex.org/I3130607311","https://openalex.org/I173759888"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001434695","display_name":"Yihuan Zhang","orcid":"https://orcid.org/0000-0001-6341-4057"},"institutions":[{"id":"https://openalex.org/I4210130203","display_name":"Intelligent Automation (United States)","ror":"https://ror.org/02fwb6r86","country_code":"US","type":"company","lineage":["https://openalex.org/I4210130203"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yihuan Zhang","raw_affiliation_strings":["Tsinghua Automotive Research Institute Intelligent Connected Vehicle Center, , SuZhou,"],"affiliations":[{"raw_affiliation_string":"Tsinghua Automotive Research Institute Intelligent Connected Vehicle Center, , SuZhou,","institution_ids":["https://openalex.org/I4210130203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037727403","display_name":"Siming Huang","orcid":"https://orcid.org/0000-0002-0912-1082"},"institutions":[{"id":"https://openalex.org/I4210148107","display_name":"Space Engineering University","ror":"https://ror.org/04rj1td02","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210148107"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siming Huang","raw_affiliation_strings":["CASIC Space Engineering Development Co. Ltd , Beijing,"],"affiliations":[{"raw_affiliation_string":"CASIC Space Engineering Development Co. Ltd , Beijing,","institution_ids":["https://openalex.org/I4210148107"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002469023","display_name":"Jiaji Pan","orcid":"https://orcid.org/0000-0001-8954-0780"},"institutions":[{"id":"https://openalex.org/I3130607311","display_name":"Changsha Normal University","ror":"https://ror.org/02sqk3z62","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130607311"]},{"id":"https://openalex.org/I173759888","display_name":"Hunan Normal University","ror":"https://ror.org/053w1zy07","country_code":"CN","type":"education","lineage":["https://openalex.org/I173759888"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaji Pan","raw_affiliation_strings":["Hunan Normal University School of Engineering and Design, , Changsha,"],"affiliations":[{"raw_affiliation_string":"Hunan Normal University School of Engineering and Design, , Changsha,","institution_ids":["https://openalex.org/I3130607311","https://openalex.org/I173759888"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010662576","display_name":"Miaolei He","orcid":"https://orcid.org/0000-0003-4743-2663"},"institutions":[{"id":"https://openalex.org/I3130607311","display_name":"Changsha Normal University","ror":"https://ror.org/02sqk3z62","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130607311"]},{"id":"https://openalex.org/I173759888","display_name":"Hunan Normal University","ror":"https://ror.org/053w1zy07","country_code":"CN","type":"education","lineage":["https://openalex.org/I173759888"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miaolei He","raw_affiliation_strings":["Hunan Normal University School of Engineering and Design, , Changsha,"],"affiliations":[{"raw_affiliation_string":"Hunan Normal University School of Engineering and Design, , Changsha,","institution_ids":["https://openalex.org/I3130607311","https://openalex.org/I173759888"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5114928875"],"corresponding_institution_ids":["https://openalex.org/I173759888","https://openalex.org/I3130607311"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00393857,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"52","issue":"4","first_page":"500","last_page":"508"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9905999898910522,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.642512857913971},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.612433910369873},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5170324444770813},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.49205392599105835},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3930068612098694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3786082863807678},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.3458678126335144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30723118782043457},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24469950795173645},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12567859888076782},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12487420439720154},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.05196648836135864}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.642512857913971},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.612433910369873},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5170324444770813},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.49205392599105835},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3930068612098694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3786082863807678},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.3458678126335144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30723118782043457},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24469950795173645},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12567859888076782},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12487420439720154},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05196648836135864}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-06-2024-0265","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2024-0265","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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":21,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W2049981393","https://openalex.org/W2115579991","https://openalex.org/W2131439959","https://openalex.org/W2296228853","https://openalex.org/W2909908358","https://openalex.org/W3040008529","https://openalex.org/W3203066970","https://openalex.org/W4210423514","https://openalex.org/W4225835048","https://openalex.org/W4226264213","https://openalex.org/W4292544413","https://openalex.org/W4297434905","https://openalex.org/W4297949573","https://openalex.org/W4323313643","https://openalex.org/W4324325723","https://openalex.org/W4387682177","https://openalex.org/W4390428998","https://openalex.org/W4390590927","https://openalex.org/W4391444623","https://openalex.org/W4394746389"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W4212966960","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W3196708299","https://openalex.org/W3126674423"],"abstract_inverted_index":{"Purpose":[0],"Over":[1],"the":[2,41,89,97,101,108,131,143,176,185,204,221],"decades,":[3],"simultaneous":[4],"localization":[5],"and":[6,14,35,43,63,110,154,164,184,196,218],"mapping":[7,68],"(SLAM)":[8],"techniques":[9],"have":[10],"been":[11],"extensively":[12],"researched":[13],"applied":[15],"in":[16,69,121,152],"robotic":[17,67,114],"mapping.":[18,115],"In":[19,135],"complex":[20,70,122],"environments,":[21,123],"SLAM":[22,55,81],"systems":[23],"using":[24],"a":[25,30,52,77,127,214],"single":[26],"sensor,":[27],"such":[28],"as":[29,142,203],"camera":[31],"or":[32],"light":[33],"detection":[34,94],"ranging":[36],"(LiDAR),":[37],"often":[38],"cannot":[39],"meet":[40],"accuracy":[42,62,109,163,195],"map":[44,64,111,119,165,197],"consistency":[45,65,112],"requirements.":[46],"This":[47,73],"study":[48],"aims":[49,58],"to":[50,59,96,212,220],"propose":[51],"tightly-coupled":[53],"LiDAR-inertial":[54,80],"system,":[56],"which":[57,105,191,210],"achieve":[60,193],"higher":[61,194],"for":[66,113,180,189],"environments.":[71],"Design/methodology/approach":[72],"paper":[74,125],"presents":[75],"TC-Mapper,":[76],"tightly":[78],"coupled":[79],"system":[82],"based":[83],"on":[84],"LIO-SAM.":[85],"The":[86,199],"authors":[87,200],"introduce":[88,201],"normal":[90,177],"distribution-based":[91,178],"loop":[92,173],"closure":[93,174],"method":[95,179,188],"original":[98,132],"one":[99],"(i.e.":[100],"radius":[102,186],"search-based":[103,187],"method),":[104],"can":[106,192],"enhance":[107],"To":[116],"further":[117],"suppress":[118],"drift":[120],"this":[124],"incorporates":[126],"gravity":[128],"factor":[129,133],"into":[130],"graph.":[134],"addition,":[136],"TC-Mapper":[137,160,168],"introduces":[138],"incremental":[139],"voxels":[140],"(iVox)":[141],"point":[144,205],"cloud":[145,206],"spatial":[146,207],"data":[147,156,208],"structure.":[148],"Findings":[149],"Extensive":[150],"experiments":[151],"public":[153],"self-collected":[155],"sets":[157],"demonstrate":[158],"that":[159],"has":[161,169],"high":[162],"consistency.":[166,198],"Originality/value":[167],"two":[170],"types":[171],"of":[172],"detections:":[175],"correcting":[181],"large":[182],"drifts":[183],"fine-stitching,":[190],"iVox":[202],"structure,":[209],"strives":[211],"attain":[213],"balance":[215],"between":[216],"precision":[217],"efficiency":[219],"greatest":[222],"extent":[223],"feasible.":[224]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}