{"id":"https://openalex.org/W4415052614","doi":"https://doi.org/10.3390/computation13100239","title":"Energy-Conscious Lightweight LiDAR SLAM with 2D Range Projection and Multi-Stage Outlier Filtering for Intelligent Driving","display_name":"Energy-Conscious Lightweight LiDAR SLAM with 2D Range Projection and Multi-Stage Outlier Filtering for Intelligent Driving","publication_year":2025,"publication_date":"2025-10-10","ids":{"openalex":"https://openalex.org/W4415052614","doi":"https://doi.org/10.3390/computation13100239"},"language":"en","primary_location":{"id":"doi:10.3390/computation13100239","is_oa":true,"landing_page_url":"https://doi.org/10.3390/computation13100239","pdf_url":"https://www.mdpi.com/2079-3197/13/10/239/pdf?version=1760105606","source":{"id":"https://openalex.org/S2738402919","display_name":"Computation","issn_l":"2079-3197","issn":["2079-3197"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computation","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2079-3197/13/10/239/pdf?version=1760105606","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031070086","display_name":"Chun Wei","orcid":"https://orcid.org/0000-0002-9689-3442"},"institutions":[{"id":"https://openalex.org/I4210157719","display_name":"Yancheng Institute of Technology","ror":"https://ror.org/04y8njc86","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210157719"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chun Wei","raw_affiliation_strings":["College of Automotive and Transportation Engineering, Yancheng Polytechnic College, Yancheng 224005, China"],"affiliations":[{"raw_affiliation_string":"College of Automotive and Transportation Engineering, Yancheng Polytechnic College, Yancheng 224005, China","institution_ids":["https://openalex.org/I4210157719"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000638552","display_name":"Tianjing Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157719","display_name":"Yancheng Institute of Technology","ror":"https://ror.org/04y8njc86","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210157719"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianjing Li","raw_affiliation_strings":["College of Automotive and Transportation Engineering, Yancheng Polytechnic College, Yancheng 224005, China"],"affiliations":[{"raw_affiliation_string":"College of Automotive and Transportation Engineering, Yancheng Polytechnic College, Yancheng 224005, China","institution_ids":["https://openalex.org/I4210157719"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017658254","display_name":"Xuemin Hu","orcid":"https://orcid.org/0000-0003-3918-8461"},"institutions":[{"id":"https://openalex.org/I139322472","display_name":"Universiti Sains Malaysia","ror":"https://ror.org/02rgb2k63","country_code":"MY","type":"education","lineage":["https://openalex.org/I139322472"]},{"id":"https://openalex.org/I4210089400","display_name":"Hospital Universiti Sains Malaysia","ror":"https://ror.org/0090j2029","country_code":"MY","type":"healthcare","lineage":["https://openalex.org/I4210089400"]},{"id":"https://openalex.org/I4210157719","display_name":"Yancheng Institute of Technology","ror":"https://ror.org/04y8njc86","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210157719"]}],"countries":["CN","MY"],"is_corresponding":false,"raw_author_name":"Xuemin Hu","raw_affiliation_strings":["College of Automotive Engineering, Yancheng Institute of Technology, Yancheng 224005, China","College of Mechanical Engineering, Universiti Sains Malaysia, George Town 11800, Malaysia"],"affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Yancheng Institute of Technology, Yancheng 224005, China","institution_ids":["https://openalex.org/I4210157719"]},{"raw_affiliation_string":"College of Mechanical Engineering, Universiti Sains Malaysia, George Town 11800, Malaysia","institution_ids":["https://openalex.org/I139322472","https://openalex.org/I4210089400"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5000638552"],"corresponding_institution_ids":["https://openalex.org/I4210157719"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38289896,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"10","first_page":"239","last_page":"239"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9925000071525574,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9817000031471252,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7046999931335449},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.661300003528595},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6470999717712402},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5846999883651733},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5141000151634216},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4609000086784363},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4577000141143799},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.43479999899864197},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4262000024318695}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7383999824523926},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7046999931335449},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.661300003528595},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6470999717712402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6098999977111816},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5846999883651733},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5839999914169312},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5141000151634216},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4609000086784363},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4577000141143799},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.43479999899864197},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4262000024318695},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.41830000281333923},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3991999924182892},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.33809998631477356},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.31439998745918274},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.29910001158714294},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29760000109672546},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.2955999970436096},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.2883000075817108},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.2840999960899353},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.271699994802475},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.26249998807907104},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.258899986743927},{"id":"https://openalex.org/C75165309","wikidata":"https://www.wikidata.org/wiki/Q2258979","display_name":"Search engine indexing","level":2,"score":0.25529998540878296}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/computation13100239","is_oa":true,"landing_page_url":"https://doi.org/10.3390/computation13100239","pdf_url":"https://www.mdpi.com/2079-3197/13/10/239/pdf?version=1760105606","source":{"id":"https://openalex.org/S2738402919","display_name":"Computation","issn_l":"2079-3197","issn":["2079-3197"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computation","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:eff35192aaf44cd28bacd6cecc36493f","is_oa":true,"landing_page_url":"https://doaj.org/article/eff35192aaf44cd28bacd6cecc36493f","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computation, Vol 13, Iss 10, p 239 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/computation13100239","is_oa":true,"landing_page_url":"https://doi.org/10.3390/computation13100239","pdf_url":"https://www.mdpi.com/2079-3197/13/10/239/pdf?version=1760105606","source":{"id":"https://openalex.org/S2738402919","display_name":"Computation","issn_l":"2079-3197","issn":["2079-3197"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computation","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320327794","display_name":"Qinglan Project of Jiangsu Province of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4415052614.pdf","grobid_xml":"https://content.openalex.org/works/W4415052614.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W2033574012","https://openalex.org/W2115579991","https://openalex.org/W2150066425","https://openalex.org/W2277848489","https://openalex.org/W2766062486","https://openalex.org/W2908603664","https://openalex.org/W2909908358","https://openalex.org/W2947723524","https://openalex.org/W3003991701","https://openalex.org/W3091486995","https://openalex.org/W3126674423","https://openalex.org/W3129245057","https://openalex.org/W3133648073","https://openalex.org/W3161580315","https://openalex.org/W3205114100","https://openalex.org/W3206845495","https://openalex.org/W4210423514","https://openalex.org/W4300961726","https://openalex.org/W4385461713","https://openalex.org/W4390590927","https://openalex.org/W4391676180","https://openalex.org/W4392157707","https://openalex.org/W4404757628","https://openalex.org/W4405521076","https://openalex.org/W4406610516","https://openalex.org/W4406874741","https://openalex.org/W4410213965"],"related_works":[],"abstract_inverted_index":{"To":[0],"meet":[1],"the":[2],"increasing":[3],"demands":[4],"of":[5],"energy":[6,123],"efficiency":[7,141],"and":[8,20,54,78,122,142,151],"real-time":[9,152],"performance":[10],"in":[11,94,139,149],"autonomous":[12,129],"driving":[13,130],"systems,":[14],"this":[15],"paper":[16],"presents":[17],"a":[18,45,63,84,110],"lightweight":[19],"robust":[21],"LiDAR":[22],"SLAM":[23,111],"framework":[24],"designed":[25],"with":[26,44,59,118],"power-aware":[27],"considerations.":[28],"The":[29],"proposed":[30],"system":[31,112],"introduces":[32],"three":[33],"core":[34],"innovations.":[35],"First,":[36],"it":[37,145],"replaces":[38],"traditional":[39],"ordered":[40],"point":[41],"cloud":[42],"indexing":[43],"2D":[46],"range":[47],"image":[48],"projection,":[49],"significantly":[50],"reducing":[51],"memory":[52],"usage":[53],"enabling":[55],"efficient":[56],"feature":[57,72],"extraction":[58],"curvature-based":[60],"criteria.":[61],"Second,":[62],"multi-stage":[64],"outlier":[65],"rejection":[66],"mechanism":[67],"is":[68],"employed":[69],"to":[70,109],"enhance":[71],"robustness":[73],"by":[74],"adaptively":[75],"filtering":[76],"occluded":[77],"noisy":[79],"points.":[80],"Third,":[81],"we":[82],"propose":[83],"dynamically":[85],"filtered":[86],"local":[87],"mapping":[88],"strategy":[89],"that":[90,113,133],"adjusts":[91],"keyframe":[92],"density":[93],"real":[95],"time,":[96],"ensuring":[97],"geometric":[98],"constraint":[99],"sufficiency":[100],"while":[101],"minimizing":[102],"redundant":[103],"computation.":[104],"These":[105],"components":[106],"collectively":[107],"contribute":[108],"achieves":[114],"high":[115],"localization":[116],"accuracy":[117],"reduced":[119],"computational":[120],"load":[121],"consumption.":[124],"Experimental":[125],"results":[126],"on":[127],"representative":[128],"datasets":[131],"demonstrate":[132],"our":[134],"method":[135],"outperforms":[136],"existing":[137],"approaches":[138],"both":[140],"robustness,":[143],"making":[144],"well-suited":[146],"for":[147],"deployment":[148],"low-power":[150],"scenarios":[153],"within":[154],"intelligent":[155],"transportation":[156],"systems.":[157]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-11T00:00:00"}