{"id":"https://openalex.org/W4399426369","doi":"https://doi.org/10.1109/access.2024.3408467","title":"A Fruit-Tree Mapping System for Semi-Structured Orchards Based on Multi-Sensor-Fusion SLAM","display_name":"A Fruit-Tree Mapping System for Semi-Structured Orchards Based on Multi-Sensor-Fusion SLAM","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4399426369","doi":"https://doi.org/10.1109/access.2024.3408467"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3408467","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3408467","pdf_url":null,"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://doi.org/10.1109/access.2024.3408467","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Bingjie Tang","orcid":"https://orcid.org/0009-0000-4561-5787"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bingjie Tang","raw_affiliation_strings":["College of Mechanical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0009-0000-4561-5787","affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056461034","display_name":"Zhiyang Guo","orcid":"https://orcid.org/0009-0008-8460-7876"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyang Guo","raw_affiliation_strings":["College of Mechanical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0009-0008-8460-7876","affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104321000","display_name":"Chenjia Huang","orcid":"https://orcid.org/0009-0005-8433-0609"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanrong Huang","raw_affiliation_strings":["College of Mechanical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0009-0005-8433-0609","affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shuo Huai","orcid":"https://orcid.org/0009-0004-5269-0688"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Huai","raw_affiliation_strings":["College of Mechanical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0009-0004-5269-0688","affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086277421","display_name":"Jingyao Gai","orcid":null},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyao Gai","raw_affiliation_strings":["College of Mechanical Engineering, Guangxi University, Nanning, China"],"raw_orcid":"https://orcid.org/0000-0002-1330-0454","affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150807315"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":8.943,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.97657986,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"12","issue":null,"first_page":"162122","last_page":"162130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9453999996185303,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6202000379562378},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5783365368843079},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5698121786117554},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5298720598220825},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5212098360061646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4248633086681366},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38142722845077515},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2790279984474182},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19109022617340088},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1781643033027649}],"concepts":[{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6202000379562378},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5783365368843079},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5698121786117554},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5298720598220825},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5212098360061646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4248633086681366},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38142722845077515},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2790279984474182},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19109022617340088},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1781643033027649},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"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":2,"locations":[{"id":"doi:10.1109/access.2024.3408467","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3408467","pdf_url":null,"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:0ea5bbfcb5074525946054cf6f4a775c","is_oa":true,"landing_page_url":"https://doaj.org/article/0ea5bbfcb5074525946054cf6f4a775c","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 12, Pp 162122-162130 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3408467","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3408467","pdf_url":null,"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":"Zero hunger","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/2"}],"awards":[{"id":"https://openalex.org/G5655700196","display_name":null,"funder_award_id":"AD22035919","funder_id":"https://openalex.org/F4320336630","funder_display_name":"Specific Research Project of Guangxi for Research Bases and Talents"},{"id":"https://openalex.org/G8188279178","display_name":null,"funder_award_id":"U23A202599","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/F4320336630","display_name":"Specific Research Project of Guangxi for Research Bases and Talents","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W994649640","https://openalex.org/W1979266466","https://openalex.org/W2407767535","https://openalex.org/W2466760950","https://openalex.org/W2541630240","https://openalex.org/W2752833634","https://openalex.org/W2792041020","https://openalex.org/W2883355509","https://openalex.org/W2889862537","https://openalex.org/W2891591747","https://openalex.org/W2909908358","https://openalex.org/W2910230606","https://openalex.org/W2999121088","https://openalex.org/W3024286373","https://openalex.org/W3046761127","https://openalex.org/W3103049166","https://openalex.org/W3104639723","https://openalex.org/W3118411738","https://openalex.org/W3121054471","https://openalex.org/W3193299614","https://openalex.org/W3206845495","https://openalex.org/W3214256989","https://openalex.org/W4212977709","https://openalex.org/W4225410179","https://openalex.org/W4285026878","https://openalex.org/W4287009832","https://openalex.org/W4289861249","https://openalex.org/W4366609682","https://openalex.org/W4387843606","https://openalex.org/W4391555443","https://openalex.org/W6602199222","https://openalex.org/W6861522320"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W4288626232","https://openalex.org/W2542348219","https://openalex.org/W2970101145","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2152662039"],"abstract_inverted_index":{"Robots":[0],"have":[1],"been":[2,162],"increasingly":[3],"applied":[4],"in":[5,37,60,114,165,190,227],"orchard":[6,116],"management,":[7],"with":[8],"fruit":[9,55,120,129,149,203,225],"tree":[10,44,56,121],"localization":[11,68,122],"and":[12,18,58,69,96,100,137,168,187,192,196,208,222,230],"mapping":[13,59,70,223],"being":[14,41],"crucial":[15],"for":[16,53,182],"precision":[17],"automation.":[19],"Existing":[20],"methods":[21],"require":[22],"real-time":[23],"kinematic":[24],"(RTK)":[25],"global":[26,54,144],"navigation":[27],"satellite":[28],"system":[29,52,86],"(GNSS)":[30],"receivers.":[31],"However,":[32],"signal":[33],"strength":[34],"is":[35],"diminished":[36],"orchards":[38,62],"due":[39],"to":[40,106,126],"occluded":[42],"by":[43],"canopies.":[45],"Therefore,":[46],"this":[47],"study":[48],"proposes":[49],"a":[50,84,89,97,119],"novel":[51],"positioning":[57,75,198,221],"semi-structured":[61],"based":[63],"on":[64],"multi-sensor":[65],"fusion":[66],"simultaneous":[67],"(SLAM),":[71],"without":[72],"dependence":[73],"of":[74,110,146,200,224],"signals":[76],"from":[77],"satellites.":[78],"As":[79],"the":[80,108,128,132,143,147,154,175,197,201],"specific":[81],"contributions,":[82],"firstly,":[83],"SLAM":[85],"which":[87,142],"fuse":[88],"camera,":[90],"an":[91],"inertial":[92],"measurement":[93],"unit":[94],"(IMU),":[95],"light":[98],"detection":[99],"ranging":[101],"(LiDAR)":[102],"sensor":[103],"was":[104,124,184],"constructed":[105],"improve":[107],"accuracy":[109],"robot":[111,133,156],"odometry":[112,183],"estimation":[113],"complex":[115,228],"environments.":[117],"Secondly,":[118],"algorithm":[123],"developed":[125],"localize":[127],"trees":[130,150,204,226],"around":[131],"using":[134,153],"both":[135],"images":[136],"LiDAR":[138],"point":[139],"clouds,":[140],"after":[141],"positions":[145],"detected":[148,202],"were":[151,205],"optimized":[152],"SLAM-derived":[155],"pose":[157],"real-time.":[158],"Our":[159],"method":[160,217],"has":[161],"extensively":[163],"evaluated":[164],"real":[166],"pear":[167,191],"persimmon":[169,193],"orchards.":[170],"The":[171,212],"results":[172,213],"showed":[173],"that":[174,215],"average":[176],"root":[177],"mean":[178],"square":[179],"error":[180],"(RMSE)":[181],"6.04":[185],"cm":[186,189,207],"14.59":[188],"orchards,":[194],"respectively,":[195],"errors":[199],"0.57":[206],"3.23":[209],"cm,":[210],"respectively.":[211],"indicate":[214],"our":[216],"can":[218],"achieve":[219],"accurate":[220],"environments":[229],"build":[231],"fruit-tree":[232],"maps.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}