{"id":"https://openalex.org/W4404419182","doi":"https://doi.org/10.1108/ir-07-2024-0314","title":"LB-LIOSAM: an improved mapping and localization method with loop detection","display_name":"LB-LIOSAM: an improved mapping and localization method with loop detection","publication_year":2024,"publication_date":"2024-11-15","ids":{"openalex":"https://openalex.org/W4404419182","doi":"https://doi.org/10.1108/ir-07-2024-0314"},"language":"en","primary_location":{"id":"doi:10.1108/ir-07-2024-0314","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-07-2024-0314","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/A5086785095","display_name":"Bowen Li","orcid":"https://orcid.org/0000-0003-1374-5207"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bowen Li","raw_affiliation_strings":["Shanghai University of Engineering Science , Shanghai,"],"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science , Shanghai,","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029575187","display_name":"Xiaoci Huang","orcid":"https://orcid.org/0000-0003-4299-8078"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoci Huang","raw_affiliation_strings":["Shanghai University of Engineering Science , Shanghai,"],"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science , Shanghai,","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075060388","display_name":"Jiaming Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaming Cai","raw_affiliation_strings":["Shanghai University of Engineering Science , Shanghai,"],"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science , Shanghai,","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100608223","display_name":"Fang Ma","orcid":"https://orcid.org/0000-0002-8849-0803"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Ma","raw_affiliation_strings":["Shanghai University of Engineering Science , Shanghai,"],"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science , Shanghai,","institution_ids":["https://openalex.org/I141962983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5086785095"],"corresponding_institution_ids":["https://openalex.org/I141962983"],"apc_list":null,"apc_paid":null,"fwci":1.5096,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86235136,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"52","issue":"3","first_page":"381","last_page":"390"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.998199999332428,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9940999746322632,"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/loop","display_name":"Loop (graph theory)","score":0.6183965802192688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.457340270280838},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.361524760723114},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21121355891227722},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.08224937319755554}],"concepts":[{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.6183965802192688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.457340270280838},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.361524760723114},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21121355891227722},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.08224937319755554}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-07-2024-0314","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-07-2024-0314","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":31,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W1988874269","https://openalex.org/W1989028680","https://openalex.org/W1989484209","https://openalex.org/W2044432738","https://openalex.org/W2049981393","https://openalex.org/W2059515588","https://openalex.org/W2066921105","https://openalex.org/W2141092327","https://openalex.org/W2162536300","https://openalex.org/W2247935935","https://openalex.org/W2482726005","https://openalex.org/W2517836489","https://openalex.org/W2963708168","https://openalex.org/W3002158350","https://openalex.org/W3125449081","https://openalex.org/W3141951428","https://openalex.org/W3195006234","https://openalex.org/W4225835048","https://openalex.org/W4309591753","https://openalex.org/W4316660906","https://openalex.org/W4390905132","https://openalex.org/W4390970388","https://openalex.org/W6670390900","https://openalex.org/W6731803746","https://openalex.org/W6773170838","https://openalex.org/W6780411392","https://openalex.org/W6784291688","https://openalex.org/W6797880985","https://openalex.org/W6855979729","https://openalex.org/W7002569803"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W24774503","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890"],"abstract_inverted_index":{"Purpose":[0],"In":[1],"large-scale":[2],"environments,":[3],"LIO-SAM":[4,55,70,245],"(Tightly-coupled":[5],"Lidar":[6],"Inertial":[7],"Odometry":[8],"via":[9],"Smoothing":[10],"and":[11,32,60,63,133,143,164,171,213,220,228,246,250],"Mapping)":[12],"exhibits":[13],"poor":[14],"robustness":[15],"due":[16],"to":[17,48,56,151,193],"the":[18,27,33,42,50,69,72,88,92,111,121,125,127,152,162,168,177,185,195,234,240],"accumulation":[19,59],"of":[20,29,35,44,54,95,155,159,236,244],"errors":[21],"caused":[22],"by":[23,117],"factors":[24,123,132,142],"such":[25],"as":[26,120],"prevalence":[28],"similar":[30],"surroundings":[31],"lack":[34],"features":[36,115],"in":[37,87,101,110,184,189,198,253],"certain":[38],"open":[39],"areas.":[40],"Therefore,":[41],"purpose":[43],"this":[45,190,199],"study":[46],"is":[47,85,108],"optimize":[49],"loop":[51,105,130,241],"detection":[52,106,242],"module":[53,243],"reduce":[57],"error":[58],"enhance":[61],"mapping":[62,163,170,212,249],"localization":[64,165,172,214,251],"performance.":[65,173],"Design/methodology/approach":[66],"Based":[67,175],"on":[68,176],"framework,":[71],"LinK3D":[73,118],"(Linear":[74],"Keypoints":[75],"Representation":[76],"for":[77,97,124],"3D":[78,102],"LiDAR":[79,103],"Point":[80],"Cloud)":[81],"feature":[82,237],"extraction":[83],"algorithm":[84,107],"integrated":[86,109],"front":[89],"end,":[90],"while":[91],"BoW3D":[93,128,227],"(Bag":[94],"Words":[96],"Real-Time":[98],"Loop":[99],"Closing":[100],"SLAM)":[104],"back":[112],"end.":[113],"The":[114],"extracted":[116],"serve":[119],"range":[122],"LiDAR,":[126],"generates":[129],"closure":[131],"these,":[134],"along":[135],"with":[136],"inertial":[137],"measurement":[138],"unit":[139],"(IMU)":[140],"preintegration":[141],"global":[144],"positioning":[145],"system":[146],"(GPS)":[147],"factors,":[148],"are":[149],"added":[150],"factor":[153],"graph":[154],"LIO-SAM.":[156],"This":[157,217],"addition":[158],"constraints":[160],"enhances":[161,233],"effects,":[166],"optimizing":[167],"overall":[169],"Findings":[174],"electrically":[178],"controlled":[179],"car,":[180],"experiments":[181],"were":[182],"conducted":[183],"experimental":[186],"scenario":[187],"proposed":[188],"paper.":[191],"Compared":[192],"LIO-SAM,":[194,229],"method":[196,223],"presented":[197],"paper":[200,218],"significantly":[201],"reduces":[202],"cumulative":[203],"errors.":[204],"While":[205],"ensuring":[206],"real-time":[207],"performance,":[208],"it":[209],"demonstrates":[210],"superior":[211],"effects.":[215],"Originality/value":[216],"proposes":[219],"validates":[221],"a":[222],"that":[224],"integrates":[225],"LinK3D,":[226],"named":[230],"LB-LIOSAM,":[231],"which":[232],"accuracy":[235],"extraction,":[238],"optimizes":[239],"improves":[247],"its":[248],"performance":[252],"specific":[254],"environmental":[255],"scenarios.":[256]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}