{"id":"https://openalex.org/W2997522185","doi":"https://doi.org/10.3390/s20010237","title":"Integrate Point-Cloud Segmentation with 3D LiDAR Scan-Matching for Mobile Robot Localization and Mapping","display_name":"Integrate Point-Cloud Segmentation with 3D LiDAR Scan-Matching for Mobile Robot Localization and Mapping","publication_year":2019,"publication_date":"2019-12-31","ids":{"openalex":"https://openalex.org/W2997522185","doi":"https://doi.org/10.3390/s20010237","mag":"2997522185","pmid":"https://pubmed.ncbi.nlm.nih.gov/31906166"},"language":"en","primary_location":{"id":"doi:10.3390/s20010237","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20010237","pdf_url":"https://www.mdpi.com/1424-8220/20/1/237/pdf?version=1578046683","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/20/1/237/pdf?version=1578046683","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006927065","display_name":"Xuyou Li","orcid":"https://orcid.org/0000-0002-5764-9295"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuyou Li","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018551628","display_name":"Shitong Du","orcid":"https://orcid.org/0000-0002-7940-7844"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shitong Du","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065272195","display_name":"Guangchun Li","orcid":"https://orcid.org/0009-0001-7186-7053"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangchun Li","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100358575","display_name":"Haoyu Li","orcid":"https://orcid.org/0000-0003-0923-1588"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyu Li","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018551628"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":60.6456,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.99744643,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"20","issue":"1","first_page":"237","last_page":"237"},"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":0.9987000226974487,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9955999851226807,"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/point-cloud","display_name":"Point cloud","score":0.8675260543823242},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.8009200096130371},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.721562922000885},{"id":"https://openalex.org/keywords/mobile-mapping","display_name":"Mobile mapping","score":0.7195241451263428},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6909825801849365},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6427550911903381},{"id":"https://openalex.org/keywords/rigid-transformation","display_name":"Rigid transformation","score":0.6131453514099121},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6119018793106079},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5484670996665955},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.49116751551628113},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4828934669494629},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4472101330757141},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4325319528579712},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4255203604698181},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.41820028424263},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.370881587266922},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2195853292942047},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15018782019615173},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11320987343788147}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8675260543823242},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.8009200096130371},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.721562922000885},{"id":"https://openalex.org/C2776821279","wikidata":"https://www.wikidata.org/wiki/Q2293902","display_name":"Mobile mapping","level":3,"score":0.7195241451263428},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6909825801849365},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6427550911903381},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.6131453514099121},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6119018793106079},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5484670996665955},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.49116751551628113},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4828934669494629},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4472101330757141},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4325319528579712},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4255203604698181},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.41820028424263},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.370881587266922},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2195853292942047},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15018782019615173},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11320987343788147},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s20010237","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20010237","pdf_url":"https://www.mdpi.com/1424-8220/20/1/237/pdf?version=1578046683","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:31906166","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31906166","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:45d13364faf84c7fa9ebfff1fe086f88","is_oa":true,"landing_page_url":"https://doaj.org/article/45d13364faf84c7fa9ebfff1fe086f88","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 20, Iss 1, p 237 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/1/237/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s20010237","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6982927","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6982927","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s20010237","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20010237","pdf_url":"https://www.mdpi.com/1424-8220/20/1/237/pdf?version=1578046683","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G3196579469","display_name":null,"funder_award_id":"E2017015","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"},{"id":"https://openalex.org/G8592346874","display_name":null,"funder_award_id":"51309058","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/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2997522185.pdf","grobid_xml":"https://content.openalex.org/works/W2997522185.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1969329424","https://openalex.org/W1988605247","https://openalex.org/W1997917718","https://openalex.org/W2049981393","https://openalex.org/W2058102639","https://openalex.org/W2060922083","https://openalex.org/W2080823437","https://openalex.org/W2109606373","https://openalex.org/W2117005311","https://openalex.org/W2118799426","https://openalex.org/W2127578024","https://openalex.org/W2128873520","https://openalex.org/W2130422193","https://openalex.org/W2146881125","https://openalex.org/W2150066425","https://openalex.org/W2152864241","https://openalex.org/W2160537734","https://openalex.org/W2296228853","https://openalex.org/W2344109021","https://openalex.org/W2344737543","https://openalex.org/W2467214650","https://openalex.org/W2473418274","https://openalex.org/W2519911873","https://openalex.org/W2565029242","https://openalex.org/W2604829660","https://openalex.org/W2732510496","https://openalex.org/W2766213449","https://openalex.org/W2774861278","https://openalex.org/W2809605404","https://openalex.org/W2888535524","https://openalex.org/W2909908358","https://openalex.org/W2922326277","https://openalex.org/W2948744044","https://openalex.org/W2950642167","https://openalex.org/W2954312769","https://openalex.org/W2963459246","https://openalex.org/W4247021973","https://openalex.org/W4249866455","https://openalex.org/W6740778104"],"related_works":["https://openalex.org/W2091861768","https://openalex.org/W2228459732","https://openalex.org/W3206634034","https://openalex.org/W2592785027","https://openalex.org/W2162359940","https://openalex.org/W3048240333","https://openalex.org/W4395662203","https://openalex.org/W4366987497","https://openalex.org/W2770320365","https://openalex.org/W2997522185"],"abstract_inverted_index":{"Localization":[0],"and":[1,13,63,110,130,153,208,243],"mapping":[2,209],"are":[3,128,193],"key":[4],"requirements":[5],"for":[6,23,43,70,105,202],"autonomous":[7],"mobile":[8],"systems":[9],"to":[10,85,149,180],"perform":[11],"navigation":[12],"interaction":[14],"tasks.":[15],"Iterative":[16],"Closest":[17],"Point":[18],"(ICP)":[19],"is":[20,74,83,164,177,211],"widely":[21],"applied":[22,178],"LiDAR":[24,113],"scan-matching":[25,103],"in":[26,56,78,195],"the":[27,32,44,66,71,79,132,161,182,196,229,239],"robotic":[28],"community.":[29],"In":[30,96],"addition,":[31],"standard":[33,174,240],"ICP":[34,48,80,176,241],"algorithm":[35,201],"only":[36],"considers":[37],"geometric":[38],"information":[39],"when":[40,90,121],"iteratively":[41],"searching":[42,69],"nearest":[45],"point.":[46],"However,":[47],"individually":[49],"cannot":[50],"achieve":[51],"accurate":[52],"point-cloud":[53,94],"registration":[54],"performance":[55],"challenging":[57],"environments":[58,62],"such":[59],"as":[60],"dynamic":[61],"highways.":[64],"Moreover,":[65],"computation":[67],"of":[68,118,125,134],"closest":[72],"points":[73,120,127,163],"an":[75,144],"expensive":[76],"step":[77],"algorithm,":[81],"which":[82],"limited":[84],"meet":[86],"real-time":[87],"requirements,":[88],"especially":[89],"dealing":[91],"with":[92,238],"large-scale":[93],"data.":[95],"this":[97,139,171],"paper,":[98],"we":[99,141],"propose":[100],"a":[101,115,173,198],"segment-based":[102],"framework":[104],"six":[106,183],"degree-of-freedom":[107,184],"pose":[108,234],"estimation":[109,235],"mapping.":[111],"The":[112,156],"generates":[114],"large":[116],"number":[117],"ground":[119,154,162],"scanning,":[122],"but":[123],"many":[124],"these":[126],"useless":[129],"increase":[131],"burden":[133],"subsequent":[135],"processing.":[136],"To":[137],"address":[138],"problem,":[140],"first":[142],"apply":[143],"image-based":[145],"ground-point":[146],"extraction":[147],"method":[148,223,242],"filter":[150],"out":[151],"noise":[152],"points.":[155],"point":[157],"cloud":[158],"after":[159],"removing":[160],"then":[165],"segmented":[166],"into":[167,179],"disjoint":[168],"sets.":[169],"After":[170],"step,":[172],"point-to-point":[175],"calculate":[181],"transformation":[185],"between":[186],"consecutive":[187],"scans.":[188],"Furthermore,":[189],"once":[190],"closed":[191],"loops":[192],"detected":[194],"environment,":[197],"6D":[199],"graph-optimization":[200],"global":[203],"relaxation":[204],"(6D":[205],"simultaneous":[206],"localization":[207],"(SLAM))":[210],"employed.":[212],"Experiments":[213],"based":[214],"on":[215],"publicly":[216],"available":[217],"KITTI":[218],"datasets":[219],"show":[220],"that":[221],"our":[222],"requires":[224],"less":[225],"runtime":[226],"while":[227],"at":[228],"same":[230],"time":[231],"achieves":[232],"higher":[233],"accuracy":[236],"compared":[237],"its":[244],"variants.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":8}],"updated_date":"2026-04-06T07:47:59.780226","created_date":"2025-10-10T00:00:00"}