{"id":"https://openalex.org/W2905733586","doi":"https://doi.org/10.1109/access.2018.2889304","title":"Efficient Laser-Based 3D SLAM for Coal Mine Rescue Robots","display_name":"Efficient Laser-Based 3D SLAM for Coal Mine Rescue Robots","publication_year":2018,"publication_date":"2018-12-24","ids":{"openalex":"https://openalex.org/W2905733586","doi":"https://doi.org/10.1109/access.2018.2889304","mag":"2905733586"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2889304","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2889304","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08586784.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08586784.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001237017","display_name":"Menggang Li","orcid":"https://orcid.org/0000-0002-2395-9543"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Menggang Li","raw_affiliation_strings":["Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2395-9543","affiliations":[{"raw_affiliation_string":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082904324","display_name":"Hua Zhu","orcid":"https://orcid.org/0000-0002-0737-1715"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Zhu","raw_affiliation_strings":["Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089994140","display_name":"Shaoze You","orcid":"https://orcid.org/0000-0002-0488-0012"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoze You","raw_affiliation_strings":["Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100735072","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0003-2383-9362"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wang","raw_affiliation_strings":["Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015968549","display_name":"Chaoquan Tang","orcid":"https://orcid.org/0000-0003-1641-9845"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoquan Tang","raw_affiliation_strings":["Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-1641-9845","affiliations":[{"raw_affiliation_string":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":46.3447,"has_fulltext":true,"cited_by_count":61,"citation_normalized_percentile":{"value":0.9958983,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"14124","last_page":"14138"},"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":0.9970999956130981,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7666560411453247},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7209887504577637},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.6393123865127563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5844075679779053},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.582090437412262},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5287373065948486},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.5245243310928345},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5172706246376038},{"id":"https://openalex.org/keywords/coal-mining","display_name":"Coal mining","score":0.4773454964160919},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.448988676071167},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4411815404891968},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4205542802810669},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26056069135665894},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2209915816783905},{"id":"https://openalex.org/keywords/coal","display_name":"Coal","score":0.22083711624145508},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14117223024368286},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08993902802467346}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7666560411453247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7209887504577637},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.6393123865127563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5844075679779053},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.582090437412262},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5287373065948486},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5245243310928345},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5172706246376038},{"id":"https://openalex.org/C108615695","wikidata":"https://www.wikidata.org/wiki/Q12880211","display_name":"Coal mining","level":3,"score":0.4773454964160919},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.448988676071167},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4411815404891968},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4205542802810669},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26056069135665894},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2209915816783905},{"id":"https://openalex.org/C518851703","wikidata":"https://www.wikidata.org/wiki/Q24489","display_name":"Coal","level":2,"score":0.22083711624145508},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14117223024368286},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08993902802467346},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2889304","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2889304","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08586784.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8773b0d313b34713b2ab3aca8673faad","is_oa":true,"landing_page_url":"https://doaj.org/article/8773b0d313b34713b2ab3aca8673faad","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,"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":"IEEE Access, Vol 7, Pp 14124-14138 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2889304","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2889304","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08586784.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6499999761581421}],"awards":[{"id":"https://openalex.org/G2518978895","display_name":null,"funder_award_id":"BK20150185","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G4712705556","display_name":null,"funder_award_id":"2018YFC0808000","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G7484175599","display_name":null,"funder_award_id":"61603394","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G789725517","display_name":null,"funder_award_id":"2018YFC0808000","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327518","display_name":"Priority Academic Program Development of Jiangsu Higher Education Institutions","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2905733586.pdf","grobid_xml":"https://content.openalex.org/works/W2905733586.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W1525964230","https://openalex.org/W1567242735","https://openalex.org/W1929860363","https://openalex.org/W1953793983","https://openalex.org/W1958442023","https://openalex.org/W1970117927","https://openalex.org/W2011767579","https://openalex.org/W2021851106","https://openalex.org/W2029780423","https://openalex.org/W2033819227","https://openalex.org/W2037341500","https://openalex.org/W2054804188","https://openalex.org/W2066713014","https://openalex.org/W2071158641","https://openalex.org/W2080823437","https://openalex.org/W2098573805","https://openalex.org/W2112082021","https://openalex.org/W2115579991","https://openalex.org/W2131439959","https://openalex.org/W2131821152","https://openalex.org/W2133844819","https://openalex.org/W2135916547","https://openalex.org/W2141305239","https://openalex.org/W2141907278","https://openalex.org/W2145178709","https://openalex.org/W2149259880","https://openalex.org/W2151290401","https://openalex.org/W2152864241","https://openalex.org/W2153054365","https://openalex.org/W2161441681","https://openalex.org/W2271206385","https://openalex.org/W2277848489","https://openalex.org/W2295130602","https://openalex.org/W2411093439","https://openalex.org/W2461937780","https://openalex.org/W2564361441","https://openalex.org/W2567633051","https://openalex.org/W2605735511","https://openalex.org/W2738970069","https://openalex.org/W2909908358","https://openalex.org/W3124420883","https://openalex.org/W4232151676","https://openalex.org/W4246663078","https://openalex.org/W4249866455"],"related_works":["https://openalex.org/W2625455490","https://openalex.org/W4324290685","https://openalex.org/W4383748483","https://openalex.org/W2972219788","https://openalex.org/W813170165","https://openalex.org/W3112789455","https://openalex.org/W2734306012","https://openalex.org/W2182515115","https://openalex.org/W2750111370","https://openalex.org/W3046078084"],"abstract_inverted_index":{"An":[0],"accurate":[1],"description":[2,163],"of":[3],"laneway":[4,42,84],"space":[5],"with":[6,115],"self-localization":[7],"is":[8,31,111],"a":[9,52,121,131],"key":[10],"issue":[11],"when":[12],"coal":[13,140,175],"mine":[14,141,176],"rescue":[15,22,177],"robots":[16],"(CMRRs)":[17],"perform":[18],"post-disaster":[19],"exploration":[20],"and":[21,28,36,68,80,106,134,154,161,171],"missions.":[23,178],"The":[24,125],"3D":[25,55],"simultaneous":[26],"localization":[27],"mapping":[29,74],"(SLAM)":[30],"an":[32,116,138],"effective":[33,107],"but":[34],"time-critical":[35],"highly":[37],"challenging":[38],"task":[39],"in":[40,82,92,137,174],"complex":[41],"scenarios,":[43],"especially":[44],"after":[45],"disasters.":[46],"In":[47],"this":[48],"paper,":[49],"we":[50],"propose":[51],"novel":[53],"real-time":[54],"SLAM":[56],"based":[57],"on":[58,130],"normally":[59],"distributed":[60],"transform":[61],"(NDT)":[62],"that":[63,146],"employs":[64],"pose":[65,96,159],"graph":[66],"optimization":[67],"loop":[69,108],"closure":[70],"to":[71,88,94,119,166],"further":[72],"improve":[73],"consistency.":[75],"We":[76],"innovatively":[77],"extract":[78],"floors":[79],"walls":[81],"the":[83,99],"as":[85],"plane":[86],"nodes":[87,97],"construct":[89],"landmark":[90],"constraints,":[91],"addition":[93],"applying":[95],"from":[98],"lidar":[100],"odometry":[101,114],"via":[102],"NDT.":[103],"A":[104],"lightweight":[105],"detection":[109],"method":[110,127],"conducted":[112],"using":[113],"appearance-based":[117],"approach":[118],"building":[120],"globally":[122],"consistent":[123],"map.":[124],"proposed":[126],"was":[128],"evaluated":[129],"public":[132],"dataset,":[133],"field":[135],"tests":[136],"underground":[139],"were":[142],"performed.":[143],"Results":[144],"indicate":[145],"our":[147],"algorithm":[148],"can":[149,157],"achieve":[150],"lower":[151],"computational":[152],"complexity":[153],"drift,":[155],"which":[156],"provide":[158],"estimation":[160],"environment":[162],"for":[164],"CMRRs":[165],"realize":[167],"remote":[168],"control":[169],"assistance":[170],"automatic":[172],"navigation":[173]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-10T00:00:00"}