{"id":"https://openalex.org/W4224277492","doi":"https://doi.org/10.3390/s22083063","title":"A Tightly Coupled LiDAR-Inertial SLAM for Perceptually Degraded Scenes","display_name":"A Tightly Coupled LiDAR-Inertial SLAM for Perceptually Degraded Scenes","publication_year":2022,"publication_date":"2022-04-15","ids":{"openalex":"https://openalex.org/W4224277492","doi":"https://doi.org/10.3390/s22083063","pmid":"https://pubmed.ncbi.nlm.nih.gov/35459050"},"language":"en","primary_location":{"id":"doi:10.3390/s22083063","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22083063","pdf_url":"https://www.mdpi.com/1424-8220/22/8/3063/pdf?version=1650038939","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/1424-8220/22/8/3063/pdf?version=1650038939","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047868177","display_name":"Lin Yang","orcid":"https://orcid.org/0000-0002-8234-7512"},"institutions":[{"id":"https://openalex.org/I110440473","display_name":"Xi'an University of Science and Technology","ror":"https://ror.org/046fkpt18","country_code":"CN","type":"education","lineage":["https://openalex.org/I110440473"]},{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lin Yang","raw_affiliation_strings":["School of Mechanical Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi\u2019an 710054, China","School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China"],"raw_orcid":"https://orcid.org/0000-0002-8234-7512","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China","institution_ids":["https://openalex.org/I4210120144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104388153","display_name":"Hongwei Ma","orcid":"https://orcid.org/0000-0001-6159-3960"},"institutions":[{"id":"https://openalex.org/I110440473","display_name":"Xi'an University of Science and Technology","ror":"https://ror.org/046fkpt18","country_code":"CN","type":"education","lineage":["https://openalex.org/I110440473"]},{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongwei Ma","raw_affiliation_strings":["School of Mechanical Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi\u2019an 710054, China","School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China","institution_ids":["https://openalex.org/I4210120144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062429638","display_name":"Yan Wang","orcid":"https://orcid.org/0000-0001-8117-1458"},"institutions":[{"id":"https://openalex.org/I110440473","display_name":"Xi'an University of Science and Technology","ror":"https://ror.org/046fkpt18","country_code":"CN","type":"education","lineage":["https://openalex.org/I110440473"]},{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Wang","raw_affiliation_strings":["School of Mechanical Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi\u2019an 710054, China","School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China","institution_ids":["https://openalex.org/I4210120144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114020391","display_name":"Jing Xia","orcid":null},"institutions":[{"id":"https://openalex.org/I110440473","display_name":"Xi'an University of Science and Technology","ror":"https://ror.org/046fkpt18","country_code":"CN","type":"education","lineage":["https://openalex.org/I110440473"]},{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Xia","raw_affiliation_strings":["School of Mechanical Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi\u2019an 710054, China","Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China","School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","institution_ids":["https://openalex.org/I110440473"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102011650","display_name":"Chuanwei Wang","orcid":"https://orcid.org/0000-0003-3943-8483"},"institutions":[{"id":"https://openalex.org/I110440473","display_name":"Xi'an University of Science and Technology","ror":"https://ror.org/046fkpt18","country_code":"CN","type":"education","lineage":["https://openalex.org/I110440473"]},{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanwei Wang","raw_affiliation_strings":["School of Mechanical Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi\u2019an 710054, China","Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China","School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi\u2019an University of Science and Technology, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I110440473"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi\u2019an 710054, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China","institution_ids":["https://openalex.org/I4210120144"]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China","institution_ids":["https://openalex.org/I110440473"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5047868177"],"corresponding_institution_ids":["https://openalex.org/I110440473","https://openalex.org/I4210120144"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":7.6401,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.964129,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"22","issue":"8","first_page":"3063","last_page":"3063"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9979000091552734,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9976999759674072,"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":0.7406060695648193},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7226386666297913},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.705886960029602},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7043601274490356},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7000246047973633},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.66385817527771},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6620256900787354},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6442406177520752},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5125467777252197},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4873717427253723},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4825238883495331},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.44772037863731384},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4240989089012146},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.16766417026519775},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15728583931922913},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09170129895210266},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.0856994092464447}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7406060695648193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7226386666297913},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.705886960029602},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7043601274490356},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7000246047973633},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.66385817527771},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6620256900787354},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6442406177520752},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5125467777252197},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4873717427253723},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4825238883495331},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.44772037863731384},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4240989089012146},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.16766417026519775},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15728583931922913},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09170129895210266},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0856994092464447},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22083063","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22083063","pdf_url":"https://www.mdpi.com/1424-8220/22/8/3063/pdf?version=1650038939","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:35459050","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35459050","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:05a78ba2d1b84c04b2823cc599c54311","is_oa":true,"landing_page_url":"https://doaj.org/article/05a78ba2d1b84c04b2823cc599c54311","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"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 22, Iss 8, p 3063 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/8/3063/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22083063","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; Volume 22; Issue 8; Pages: 3063","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9024896","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9024896","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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/s22083063","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22083063","pdf_url":"https://www.mdpi.com/1424-8220/22/8/3063/pdf?version=1650038939","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6600000262260437}],"awards":[{"id":"https://openalex.org/G345174501","display_name":null,"funder_award_id":"50674075","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6543986324","display_name":null,"funder_award_id":"51975468","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":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4224277492.pdf","grobid_xml":"https://content.openalex.org/works/W4224277492.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1981699551","https://openalex.org/W1987441863","https://openalex.org/W2011754354","https://openalex.org/W2016456873","https://openalex.org/W2023513943","https://openalex.org/W2025007236","https://openalex.org/W2033819227","https://openalex.org/W2085261163","https://openalex.org/W2127752689","https://openalex.org/W2131684180","https://openalex.org/W2133820918","https://openalex.org/W2133844819","https://openalex.org/W2148228392","https://openalex.org/W2277848489","https://openalex.org/W2410627718","https://openalex.org/W2411093439","https://openalex.org/W2467214650","https://openalex.org/W2569273543","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2805521962","https://openalex.org/W2908603664","https://openalex.org/W2909908358","https://openalex.org/W2910122778","https://openalex.org/W2938818630","https://openalex.org/W2954312769","https://openalex.org/W2962987986","https://openalex.org/W2963566952","https://openalex.org/W2973108181","https://openalex.org/W2990140977","https://openalex.org/W3016807964","https://openalex.org/W3083706479","https://openalex.org/W3091486995","https://openalex.org/W3129245057","https://openalex.org/W3133648073","https://openalex.org/W3169350589","https://openalex.org/W4210423514","https://openalex.org/W4249866455","https://openalex.org/W6662860747","https://openalex.org/W6752513439"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W2125308530","https://openalex.org/W3123982513","https://openalex.org/W2034836143","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W1541079531"],"abstract_inverted_index":{"Realizing":[0],"robust":[1],"six":[2],"degrees":[3],"of":[4,49,93,104,128,150,158,203,211],"freedom":[5],"(6DOF)":[6],"state":[7,83,153],"estimation":[8],"and":[9,13,25,57,91,99,107,134,167,196,206],"high-performance":[10],"simultaneous":[11],"localization":[12],"mapping":[14],"(SLAM)":[15],"for":[16,86,177],"perceptually":[17,178],"degraded":[18,179],"scenes":[19],"(such":[20],"as":[21],"underground":[22],"tunnels,":[23],"corridors,":[24],"roadways)":[26],"is":[27,72,161],"a":[28,38,76,88,94,119,164],"challenge":[29],"in":[30],"robotics.":[31],"To":[32],"solve":[33],"these":[34],"problems,":[35],"we":[36,117,170],"propose":[37],"SLAM":[39],"algorithm":[40,160,188],"based":[41],"on":[42,64,113],"tightly":[43,77,141],"coupled":[44,78,142],"LiDAR-IMU":[45],"fusion,":[46],"which":[47,96],"consists":[48],"two":[50],"parts:":[51],"front":[52,66],"end":[53,59],"iterative":[54,69],"Kalman":[55,70],"filtering":[56],"back":[58,115],"pose":[60],"graph":[61],"optimization.":[62],"Firstly,":[63],"the":[65,87,102,105,109,114,125,140,147,151,156,159,168,190,200,204,208,212],"end,":[67,116],"an":[68],"filter":[71],"established":[73],"to":[74,123,139],"construct":[75],"LiDAR-Inertial":[79],"Odometry":[80],"(LIO).":[81],"The":[82,172],"propagation":[84],"process":[85],"priori":[89],"position":[90],"attitude":[92,106],"robot,":[95],"uses":[97],"predictions":[98],"observations,":[100],"increases":[101],"accuracy":[103,149],"enhances":[108],"system":[110,205],"robustness.":[111],"Second,":[112],"deploy":[118],"keyframe":[120],"selection":[121],"strategy":[122],"meet":[124],"real-time":[126,194],"requirements":[127],"large-scale":[129],"scenes.":[130],"Moreover,":[131],"loop":[132],"detection":[133],"ground":[135],"constraints":[136],"are":[137],"added":[138],"framework,":[143],"thereby":[144],"further":[145],"improving":[146],"overall":[148],"6DOF":[152],"estimation.":[154],"Finally,":[155],"performance":[157,195],"verified":[162],"using":[163],"public":[165],"dataset":[166,169],"collected.":[171],"experimental":[173],"results":[174],"show":[175],"that":[176],"scenes,":[180],"compared":[181],"with":[182],"existing":[183],"LiDAR-SLAM":[184],"algorithms,":[185],"our":[186],"proposed":[187],"grants":[189],"robot":[191],"higher":[192],"accuracy,":[193],"robustness,":[197],"effectively":[198],"reducing":[199],"cumulative":[201],"error":[202],"ensuring":[207],"global":[209],"consistency":[210],"constructed":[213],"maps.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
