{"id":"https://openalex.org/W4396753639","doi":"https://doi.org/10.1109/taes.2024.3397962","title":"PA-SLAM: Fast and Robust Ground Segmentation and Optimized Loop Detection Laser SLAM System","display_name":"PA-SLAM: Fast and Robust Ground Segmentation and Optimized Loop Detection Laser SLAM System","publication_year":2024,"publication_date":"2024-05-08","ids":{"openalex":"https://openalex.org/W4396753639","doi":"https://doi.org/10.1109/taes.2024.3397962"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2024.3397962","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2024.3397962","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"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 Transactions on Aerospace and Electronic Systems","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/A5100700870","display_name":"Xu Zhao","orcid":"https://orcid.org/0000-0002-1712-6588"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]},{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xu Zhao","raw_affiliation_strings":["Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing, China","State Key Laboratory of High Power Semiconductor Laser, Changchun University of Science and Technology, Changchun, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing, China","institution_ids":["https://openalex.org/I78675632"]},{"raw_affiliation_string":"State Key Laboratory of High Power Semiconductor Laser, Changchun University of Science and Technology, Changchun, China","institution_ids":["https://openalex.org/I106645853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114006650","display_name":"Xiao Ren","orcid":"https://orcid.org/0009-0006-4204-7781"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Ren","raw_affiliation_strings":["Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing, China","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087746129","display_name":"Lianpeng Li","orcid":"https://orcid.org/0000-0002-3595-4897"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lianpeng Li","raw_affiliation_strings":["Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing, China","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001182091","display_name":"Junan Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junan Wu","raw_affiliation_strings":["Key Discipline Laboratory of National Defense for Intelligent Munitions Technology, Nanjing University of Science and Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Key Discipline Laboratory of National Defense for Intelligent Munitions Technology, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010524733","display_name":"Xin Zhao","orcid":"https://orcid.org/0000-0002-3604-1643"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]},{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zhao","raw_affiliation_strings":["Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing, China","State Key Laboratory of High Power Semiconductor Laser, Changchun University of Science and Technology, Changchun, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing, China","institution_ids":["https://openalex.org/I78675632"]},{"raw_affiliation_string":"State Key Laboratory of High Power Semiconductor Laser, Changchun University of Science and Technology, Changchun, China","institution_ids":["https://openalex.org/I106645853"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100700870"],"corresponding_institution_ids":["https://openalex.org/I106645853","https://openalex.org/I78675632"],"apc_list":null,"apc_paid":null,"fwci":9.8297,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.97824324,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"60","issue":"5","first_page":"5812","last_page":"5822"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9929999709129333,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.991100013256073,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6401019096374512},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6256956458091736},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5505946278572083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5503152012825012},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.5334195494651794},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4938081204891205},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.43362167477607727},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14095348119735718},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1364343762397766},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1340252161026001}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6401019096374512},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6256956458091736},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5505946278572083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5503152012825012},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.5334195494651794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4938081204891205},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.43362167477607727},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14095348119735718},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1364343762397766},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1340252161026001},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2024.3397962","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2024.3397962","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1765580779","display_name":null,"funder_award_id":"4242036","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W98163623","https://openalex.org/W1482825550","https://openalex.org/W1525964230","https://openalex.org/W1961595631","https://openalex.org/W1972485825","https://openalex.org/W2049981393","https://openalex.org/W2077057258","https://openalex.org/W2103420503","https://openalex.org/W2130763585","https://openalex.org/W2131439959","https://openalex.org/W2296228853","https://openalex.org/W2527172881","https://openalex.org/W2732510496","https://openalex.org/W2737444374","https://openalex.org/W2741560390","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2994073334","https://openalex.org/W2996045557","https://openalex.org/W3007240855","https://openalex.org/W3049692200","https://openalex.org/W3089503906","https://openalex.org/W3120688681","https://openalex.org/W3129245057","https://openalex.org/W3129693044","https://openalex.org/W3130609318","https://openalex.org/W3132921302","https://openalex.org/W3133648073","https://openalex.org/W3134160087","https://openalex.org/W3176159010","https://openalex.org/W3197054068","https://openalex.org/W3210431654","https://openalex.org/W4205574455","https://openalex.org/W4205686350","https://openalex.org/W4205877297","https://openalex.org/W4210423514","https://openalex.org/W4243493583","https://openalex.org/W4249866455","https://openalex.org/W4285400506","https://openalex.org/W4309591753","https://openalex.org/W4312376118","https://openalex.org/W4313409486","https://openalex.org/W4383066341","https://openalex.org/W6675606146","https://openalex.org/W6791060253","https://openalex.org/W6791084763"],"related_works":["https://openalex.org/W24774503","https://openalex.org/W2014821076","https://openalex.org/W1990620319","https://openalex.org/W1965744717","https://openalex.org/W28570768","https://openalex.org/W2111234595","https://openalex.org/W3216334292","https://openalex.org/W2770593030","https://openalex.org/W2912965286","https://openalex.org/W3154990682"],"abstract_inverted_index":{"In":[0,48],"simultaneous":[1],"localization":[2,18,68,156,220],"and":[3,39,89,112,165,190,213,218,221],"mapping":[4],"(SLAM)":[5],"technique,":[6],"the":[7,49,54,61,67,82,106,121,125,129,141,147,169,177,196,207,211],"presence":[8],"of":[9,43,81,183,210],"cumulative":[10,208],"errors":[11],"in":[12,205],"laser":[13,29],"odometry":[14],"positions":[15,80],"leads":[16],"to":[17,59,65,105,119,139,145,152,195],"bias":[19],"or":[20],"even":[21],"mapbuilding":[22],"failure.":[23],"To":[24],"address":[25],"this":[26,184],"problem,":[27],"a":[28,101,113,202,215],"SLAM":[30],"method":[31,56,160,185],"called":[32],"PA-SLAM":[33],"based":[34],"on":[35,168,192],"ground":[36,62],"plane":[37,63],"constraints":[38,64,144],"twostep":[40],"accurate":[41,77,155,219],"identification":[42],"loopback":[44,94,142],"frames":[45,95],"is":[46,57,117,137,161,186],"proposed.":[47],"point":[50,74],"cloud":[51],"preprocessing":[52],"process,":[53],"Patchwork++":[55],"introduced":[58,118,138],"obtain":[60,140,153],"reduce":[66],"error":[69,181,209],"caused":[70],"by":[71,98,188],"invalid":[72],"feature":[73],"matching.":[75],"Then,":[76],"six-degree-of-freedom":[78],"bit":[79],"carrier":[83],"are":[84,96],"obtained":[85,97],"from":[86],"Lidar":[87,114],"Orientation":[88],"Map":[90],"Construction":[91],"(LOAM),":[92],"candidate":[93,126],"searching":[99],"within":[100],"certain":[102],"radius":[103],"according":[104],"k-dimensional":[107],"(K-D)":[108],"tree":[109],"data":[110],"structure,":[111],"Iris":[115],"descriptor":[116],"calculate":[120],"similarity":[122],"scores":[123],"among":[124],"frames.":[127],"Finally,":[128],"Fast":[130],"Generalized":[131],"Iterative":[132],"Closest":[133],"Point":[134],"(FasterGICP)":[135],"algorithm":[136],"position":[143,179],"correct":[146],"global":[148],"pose,":[149],"so":[150],"as":[151],"more":[154,216],"information.":[157],"The":[158,172],"proposed":[159],"compared":[162],"with":[163],"LeGO-LOAM":[164],"SC-LeGO-LOAM":[166],"algorithms":[167],"KITTI":[170],"dataset.":[171],"experimental":[173],"results":[174],"show":[175],"that":[176],"absolute":[178],"root-mean-square":[180],"(RMSE)":[182],"reduced":[187],"45.7%":[189],"48.3%":[191],"average":[193],"relative":[194],"above":[197],"two":[198],"algorithms,":[199],"which":[200],"plays":[201],"significant":[203],"role":[204],"eliminating":[206],"position,":[212],"realizes":[214],"robust":[217],"3D":[222],"map":[223],"construction.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}