{"id":"https://openalex.org/W4315472059","doi":"https://doi.org/10.1109/icarcv57592.2022.10004296","title":"Lidar-only 3D SLAM System Comparative Study","display_name":"Lidar-only 3D SLAM System Comparative Study","publication_year":2022,"publication_date":"2022-12-11","ids":{"openalex":"https://openalex.org/W4315472059","doi":"https://doi.org/10.1109/icarcv57592.2022.10004296"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv57592.2022.10004296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv57592.2022.10004296","pdf_url":null,"source":{"id":"https://openalex.org/S4363608251","display_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-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/A5073258611","display_name":"Wenhu Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenhu Ren","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054063853","display_name":"Xueyuan Li","orcid":"https://orcid.org/0000-0003-1112-5610"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueyuan Li","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102965185","display_name":"Mengkai Li","orcid":"https://orcid.org/0000-0003-0745-805X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengkai Li","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100453144","display_name":"Qi Liu","orcid":"https://orcid.org/0000-0001-5378-6404"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Liu","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042718225","display_name":"Zirui Li","orcid":"https://orcid.org/0000-0001-7056-4264"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zirui Li","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5073258611"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.5555,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63399428,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"505","last_page":"510"},"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":0.996399998664856,"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":0.991599977016449,"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":0.7581652402877808},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7455831170082092},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7178820371627808},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6701246500015259},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6580255031585693},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6206716895103455},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5521880984306335},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4363619089126587},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3363182842731476},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17146670818328857},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.13992786407470703}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7581652402877808},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7455831170082092},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7178820371627808},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6701246500015259},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6580255031585693},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6206716895103455},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5521880984306335},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4363619089126587},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3363182842731476},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17146670818328857},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.13992786407470703},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv57592.2022.10004296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv57592.2022.10004296","pdf_url":null,"source":{"id":"https://openalex.org/S4363608251","display_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1964408754","https://openalex.org/W2115579991","https://openalex.org/W2119851068","https://openalex.org/W2124313187","https://openalex.org/W2137052305","https://openalex.org/W2153054365","https://openalex.org/W2160899649","https://openalex.org/W2165468899","https://openalex.org/W2167310049","https://openalex.org/W2214788824","https://openalex.org/W2277848489","https://openalex.org/W2909908358","https://openalex.org/W3133767727","https://openalex.org/W3207826836","https://openalex.org/W3214941241","https://openalex.org/W4205574455"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,8,16,28,37,55,80],"mapping":[3],"(SLAM)":[4],"is":[5,69],"an":[6],"attractive":[7],"hot":[9],"research":[10],"topic":[11],"in":[12,22],"computer":[13],"vision,":[14],"robotics,":[15],"artificial":[17],"intelligence.":[18],"Autonomous":[19],"vehicles":[20],"driving":[21],"unknown":[23],"environments":[24],"try":[25],"to":[26,72],"perceive":[27],"map":[29],"the":[30,60,66,74],"surrounding":[31],"environment":[32],"while":[33],"recognizing":[34],"their":[35],"location":[36],"trajectory.":[38],"In":[39],"this":[40],"paper,":[41],"five":[42],"state-of-the-art":[43],"open-source":[44],"3D":[45],"lidar-only":[46],"SLAM":[47],"algorithms":[48],"are":[49],"reviewed:":[50],"LOAM,":[51],"LeGO-LOAM,":[52],"F-LOAM,":[53],"BALM,":[54],"MULLS.":[56],"We":[57],"briefly":[58],"introduce":[59],"characteristics":[61],"of":[62,84],"these":[63],"algorithms.":[64],"Finally,":[65],"experimental":[67],"comparison":[68],"carried":[70],"out":[71],"compare":[73],"absolute":[75],"pose":[76],"error":[77],"(APE),":[78],"efficiency,":[79],"operation":[81],"memory":[82],"occupation":[83],"each":[85],"algorithm.":[86]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
