{"id":"https://openalex.org/W4408222995","doi":"https://doi.org/10.1109/robio64047.2024.10907734","title":"BAG-SLAM: A Bundle Adjustment Based Ground LiDAR SLAM System for Outdoor Mobile Robots","display_name":"BAG-SLAM: A Bundle Adjustment Based Ground LiDAR SLAM System for Outdoor Mobile Robots","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408222995","doi":"https://doi.org/10.1109/robio64047.2024.10907734"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5106781146","display_name":"Bohan Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bohan Shi","raw_affiliation_strings":["Institute of Robotics &#x0026; Automatic Information System. Nankai University,Tianjin,CHN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics &#x0026; Automatic Information System. Nankai University,Tianjin,CHN","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003316082","display_name":"Wanbiao Lin","orcid":"https://orcid.org/0009-0006-7170-7718"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanbiao Lin","raw_affiliation_strings":["Institute of Robotics &#x0026; Automatic Information System. Nankai University,Tianjin,CHN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics &#x0026; Automatic Information System. Nankai University,Tianjin,CHN","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109755487","display_name":"Wenlan Ouyang","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenlan Ouyang","raw_affiliation_strings":["Institute of Robotics &#x0026; Automatic Information System. Nankai University,Tianjin,CHN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics &#x0026; Automatic Information System. Nankai University,Tianjin,CHN","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110062325","display_name":"Yan Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Sun","raw_affiliation_strings":["Institute of Robotics &#x0026; Automatic Information System. Nankai University,Tianjin,CHN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics &#x0026; Automatic Information System. Nankai University,Tianjin,CHN","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021631382","display_name":"Lei Sun","orcid":"https://orcid.org/0000-0002-8886-9012"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Sun","raw_affiliation_strings":["Institute of Robotics &#x0026; Automatic Information System. Nankai University,Tianjin,CHN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics &#x0026; Automatic Information System. Nankai University,Tianjin,CHN","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2247","last_page":"2252"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9968000054359436,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/lidar","display_name":"Lidar","score":0.7647392749786377},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7639284133911133},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6965248584747314},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5938308238983154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5789139270782471},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5748679637908936},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5503940582275391},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5217219591140747},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.39214858412742615},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2412557303905487}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7647392749786377},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7639284133911133},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6965248584747314},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5938308238983154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5789139270782471},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5748679637908936},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5503940582275391},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5217219591140747},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.39214858412742615},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2412557303905487},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G413188036","display_name":null,"funder_award_id":"62173192","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2144594079","https://openalex.org/W2296228853","https://openalex.org/W2908603664","https://openalex.org/W2909908358","https://openalex.org/W2940793188","https://openalex.org/W3129245057","https://openalex.org/W3133767727","https://openalex.org/W3207826836","https://openalex.org/W3211457576","https://openalex.org/W4210423514","https://openalex.org/W4249866455","https://openalex.org/W4285102123","https://openalex.org/W4285512293","https://openalex.org/W4312376118","https://openalex.org/W4313639518","https://openalex.org/W4362698359","https://openalex.org/W4390563547","https://openalex.org/W4390590927"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067","https://openalex.org/W3033220023","https://openalex.org/W2963200201"],"abstract_inverted_index":{"Eliminating":[0],"the":[1,4,33,38,50,53,55,75,86,90,97,109,114,118,123],"drift":[2,34],"along":[3,117],"gravity":[5,119],"direction":[6],"is":[7,29],"crucial":[8],"for":[9,68],"Simultaneous":[10],"Localization":[11],"and":[12,45,95,104,127],"Mapping":[13],"(SLAM)":[14],"systems":[15],"in":[16],"long-term":[17],"running.":[18],"In":[19,52],"this":[20],"paper,":[21],"a":[22],"novel":[23],"ground-constrain-based":[24],"SLAM":[25],"method":[26,111],"(i.e.,":[27],"BAG-SLAM)":[28],"proposed":[30,110],"to":[31,84],"address":[32],"issue.":[35],"BAG-SLAM":[36,121],"fuses":[37],"ground":[39,57,76,87,93],"extraction,":[40],"LiDAR":[41],"bundle":[42],"adjustment":[43],"(BA),":[44],"loop-closure":[46],"detection":[47],"methods":[48],"into":[49],"back-end.":[51],"back-end,":[54],"extracted":[56],"planes":[58],"of":[59,65,78,92],"every":[60],"keyframe":[61],"are":[62,82],"as":[63],"constrains":[64],"robot":[66],"poses":[67],"factor":[69],"graph":[70],"optimization.":[71],"To":[72],"deal":[73],"with":[74],"distortion":[77],"scene,":[79],"LiDAR-BA-based":[80],"factors":[81],"used":[83],"refine":[85],"structure,":[88],"correct":[89],"parameters":[91],"plane":[94],"remove":[96],"outliers.":[98],"Experimental":[99],"results":[100],"on":[101],"several":[102],"public":[103],"self-collected":[105],"datasets":[106],"show":[107],"that":[108],"effectively":[112],"reduces":[113],"pose":[115],"errors":[116],"direction.":[120],"realizes":[122],"more":[124,128],"accurate":[125],"localization":[126],"consistent":[129],"map":[130],"construction.":[131]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
