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The deep neural network is used to segment the point cloud semantically to construct the point cloud semantic map descriptor, and the global navigation satellite system real\u2010time kinematic position is used to detect the loop closure. Finally, a\u2009factor\u2010graph model is used for global optimization. The working principle of the SLAM system is introduced in detail, including the construction of the factor graph, the generation of the point cloud semantic graph descriptor, the generation of the ring graph, the loop\u2010closure detection process, and the global optimization. Indoor and outdoor experiments are conducted to validate the performance of overall trajectory estimation and loop\u2010closure detection. Compared to traditional methods, the proposed method offers improved accuracy and real\u2010time performance in trajectory estimation. It effectively addresses issues such as limited feature constraints, large computational consumption, and subpar real\u2010time performance, allowing for quick and accurate loop\u2010closure detection. Moreover, the method demonstrates a time consumption reduction of two\u2010thirds compared to traditional approaches while exhibiting superior overall loop\u2010closure detection performance.<\/jats:p>","DOI":"10.1002\/aisy.202300138","type":"journal-article","created":{"date-parts":[[2023,7,9]],"date-time":"2023-07-09T23:22:06Z","timestamp":1688944926000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["A Real\u2010Time and Fast LiDAR\u2013IMU\u2013GNSS SLAM System with Point Cloud Semantic Graph Descriptor Loop\u2010Closure Detection"],"prefix":"10.1002","volume":"5","author":[{"given":"Yingzhong","family":"Tian","sequence":"first","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University  Shanghai 200444 China"}]},{"given":"Feng","family":"Liu","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University  Shanghai 200444 China"}]},{"given":"Hongfei","family":"Liu","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University  Shanghai 200444 China"}]},{"given":"Yiming","family":"Liu","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University  Shanghai 200444 China"}]},{"given":"Heru","family":"Suwoyo","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering Universitas Mercu Buana  Jakarta 11650 Indonesia"}]},{"given":"Tao","family":"Jin","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University  Shanghai 200444 China"}]},{"given":"Long","family":"Li","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University  Shanghai 200444 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3942-026X","authenticated-orcid":false,"given":"Jieyu","family":"Wang","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University  Shanghai 200444 China"}]}],"member":"311","published-online":{"date-parts":[[2023,7,9]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3110372"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/MWC.2019.1800533"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2017.2749181"},{"key":"e_1_2_10_5_1","doi-asserted-by":"crossref","unstructured":"D.Paz H.Zhang Q.Li H.Xiang H.Christensen inProc. 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