{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,27]],"date-time":"2026-03-27T12:59:51Z","timestamp":1774616391179,"version":"3.50.1"},"reference-count":30,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2020,10,9]],"date-time":"2020-10-09T00:00:00Z","timestamp":1602201600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,10,9]],"date-time":"2020-10-09T00:00:00Z","timestamp":1602201600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2021,1]]},"DOI":"10.1007\/s10514-020-09948-3","type":"journal-article","created":{"date-parts":[[2020,10,9]],"date-time":"2020-10-09T11:02:32Z","timestamp":1602241352000},"page":"77-98","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":46,"title":["S4-SLAM: A real-time 3D LIDAR SLAM system for ground\/watersurface multi-scene outdoor applications"],"prefix":"10.1007","volume":"45","author":[{"given":"Bo","family":"Zhou","sequence":"first","affiliation":[]},{"given":"Yi","family":"He","sequence":"additional","affiliation":[]},{"given":"Kun","family":"Qian","sequence":"additional","affiliation":[]},{"given":"Xudong","family":"Ma","sequence":"additional","affiliation":[]},{"given":"Xiaomao","family":"Li","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,10,9]]},"reference":[{"issue":"3","key":"9948_CR1","doi-asserted-by":"publisher","first-page":"85","DOI":"10.1145\/1360612.1360684","volume":"27","author":"D Aiger","year":"2008","unstructured":"Aiger, D., Mitra, N. J., & Cohen-Or, D. (2008). 4-points congruent sets for robust pairwise surface registration. ACM Transactions on Graphics (TOG), 27(3), 85.","journal-title":"ACM Transactions on Graphics (TOG)"},{"issue":"1","key":"9948_CR2","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1002\/rob.21441","volume":"30","author":"J Almeida","year":"2013","unstructured":"Almeida, J., & Santos, V. M. (2013). Real time egomotion of a nonholonomic vehicle using LIDAR measurements. Journal of Field Robotics, 30(1), 129\u2013141.","journal-title":"Journal of Field Robotics"},{"key":"9948_CR3","doi-asserted-by":"publisher","first-page":"355","DOI":"10.3390\/s90100355","volume":"9","author":"KH Bae","year":"2009","unstructured":"Bae, K. H. (2009). Evaluation of the convergence region of an automated registration method for 3D laser scanner point clouds. Sensors, 9, 355\u2013375.","journal-title":"Sensors"},{"key":"9948_CR4","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.016","volume-title":"Efficient Surfel-based SLAM using 3D laser range data in urban environments","author":"J Behley","year":"2018","unstructured":"Behley, J., & Stachniss, C. (2018). Efficient Surfel-based SLAM using 3D laser range data in urban environments. In Robotics: Science and Systems."},{"key":"9948_CR5","first-page":"586","volume":"1611","author":"PJ Besl","year":"1992","unstructured":"Besl, P. J., & McKay, N. D. (1992). Method for registration of 3-D shapes. Sensor Fusion IV: Control Paradigms and Data Structures, 1611, 586\u2013607.","journal-title":"Sensor Fusion IV: Control Paradigms and Data Structures"},{"key":"9948_CR6","doi-asserted-by":"crossref","unstructured":"Biber, P., & Stra\u00dfer, W. (2003). The normal distributions transform: A new approach to laser scan matching. In\u00a0Proceedings 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Las Vegas, USA.","DOI":"10.1109\/IROS.2003.1249285"},{"key":"9948_CR7","doi-asserted-by":"crossref","unstructured":"Bouaziz, S., Tagliasacchi, A., & Pauly, M. (2013). Sparse iterative closest point. In\u00a0Proceedings of the Eleventh Eurographics\/ACM SIGGRAPH Symposium on Geometry Processing, Oxford, UK.","DOI":"10.1111\/cgf.12178"},{"key":"9948_CR8","doi-asserted-by":"crossref","unstructured":"Ceriani, S., S\u00e1nchez, C., Taddei, P., Wolfart, E., & Sequeira, V. (2015). Pose interpolation slam for large maps using moving 3d sensors. In\u00a02015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)\u00a0(pp. 750\u2013757).","DOI":"10.1109\/IROS.2015.7353456"},{"key":"9948_CR9","doi-asserted-by":"crossref","unstructured":"da Silva, J. P., Borges, D. L., & de Barros Vidal, F. (2011). A dynamic approach for approximate pairwise alignment based on 4-points congruence sets of 3D points. In\u00a02011 18th IEEE International Conference on Image Processing\u00a0(pp. 889\u2013892).","DOI":"10.1109\/ICIP.2011.6116701"},{"key":"9948_CR10","doi-asserted-by":"crossref","unstructured":"Deschaud, J. E. (2018, May). IMLS-SLAM: scan-to-model matching based on 3D data. In\u00a02018 IEEE International Conference on Robotics and Automation (ICRA)\u00a0(pp. 2480\u20132485).","DOI":"10.1109\/ICRA.2018.8460653"},{"key":"9948_CR11","doi-asserted-by":"crossref","unstructured":"Dub\u00e9, R., Dugas, D., Stumm, E., Nieto, J., Siegwart, R., & Cadena, C. (2017). Segmatch: Segment based place recognition in 3d point clouds. In\u00a02017 IEEE International Conference on Robotics and Automation (ICRA)\u00a0(pp. 5266\u20135272).","DOI":"10.1109\/ICRA.2017.7989618"},{"issue":"3","key":"9948_CR12","doi-asserted-by":"publisher","first-page":"1832","DOI":"10.1109\/LRA.2018.2803213","volume":"3","author":"R Dub\u00e9","year":"2018","unstructured":"Dub\u00e9, R., Gollub, M. G., Sommer, H., Gilitschenski, I., Siegwart, R., Cadena, C., et al. (2018). Incremental-segment-based localization in 3-d point clouds. IEEE Robotics and Automation Letters, 3(3), 1832\u20131839.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"9948_CR13","doi-asserted-by":"publisher","first-page":"1229","DOI":"10.1177\/0278364913491297","volume":"32","author":"A Geiger","year":"2013","unstructured":"Geiger, A., Lenz, P., Stiller, C., & Urtasun, R. (2013). Vision meets robotics: The KITTI dataset. The International Journal of Robotics Research, 32, 1229\u20131235.","journal-title":"The International Journal of Robotics Research"},{"key":"9948_CR14","doi-asserted-by":"crossref","unstructured":"Geiger, A., Lenz, P., & Urtasun, R. (2012). Are we ready for autonomous driving? the kitti vision benchmark suite. In\u00a02012 IEEE Conference on Computer Vision and Pattern Recognition\u00a0(pp. 3354\u20133361).","DOI":"10.1109\/CVPR.2012.6248074"},{"issue":"1\u20132","key":"9948_CR15","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1016\/S0925-7721(98)00033-9","volume":"12","author":"S Irani","year":"1999","unstructured":"Irani, S., & Raghavan, P. (1999). Combinatorial and experimental results for randomized point matching algorithms. Computational Geometry, 12(1\u20132), 17\u201331.","journal-title":"Computational Geometry"},{"key":"9948_CR16","doi-asserted-by":"crossref","unstructured":"Ji, K., Chen, H., Di, H., Gong, J., Xiong, G., Qi, J., & Yi, T. (2018). CPFG-SLAM: a robust simultaneous localization and mapping based on LIDAR in off-road environment.\u00a0In 2018 IEEE Intelligent Vehicles Symposium (IV) (pp. 650\u2013655).","DOI":"10.1109\/IVS.2018.8500599"},{"issue":"9","key":"9948_CR17","doi-asserted-by":"publisher","first-page":"615","DOI":"10.1002\/rob.20252","volume":"25","author":"S Kammel","year":"2008","unstructured":"Kammel, S., Ziegler, J., Pitzer, B., Werling, M., Gindele, T., Jagzent, D., et al. (2008). Team AnnieWAY\u2019s autonomous system for the 2007 DARPA Urban Challenge. Journal of Field Robotics, 25(9), 615\u2013639.","journal-title":"Journal of Field Robotics"},{"key":"9948_CR18","unstructured":"Koide, K., Miura, J., & Menegatti, E. (2018). A Portable 3D LIDAR-based system for long-term and wide-area people behavior measurement. IEEE Transactions on Human-Machine Systems."},{"issue":"14","key":"9948_CR19","doi-asserted-by":"publisher","first-page":"1611","DOI":"10.1177\/0278364913498910","volume":"32","author":"Y Latif","year":"2013","unstructured":"Latif, Y., Cadena, C., & Neira, J. (2013). Robust loop closing over time for pose graph SLAM. The International Journal of Robotics Research, 32(14), 1611\u20131626.","journal-title":"The International Journal of Robotics Research"},{"issue":"4","key":"9948_CR20","first-page":"655","volume":"28","author":"M Magnusson","year":"2009","unstructured":"Magnusson, M. (2009). The Three-Dimensional Normal-Distributions Transform: an Efficient Representation for Registration, Surface Analysis, and Loop Detection. Renewable Energy, 28(4), 655\u2013663.","journal-title":"Renewable Energy"},{"key":"9948_CR21","doi-asserted-by":"crossref","unstructured":"Magnusson, M., Nuchter, A., Lorken, C., Lilienthal, A. J., & Hertzberg, J. (2009). Evaluation of 3D registration reliability and speed-A comparison of ICP and NDT. In\u00a02009 IEEE International Conference on Robotics and Automation (pp. 3907\u20133912).","DOI":"10.1109\/ROBOT.2009.5152538"},{"issue":"5","key":"9948_CR22","doi-asserted-by":"publisher","first-page":"205","DOI":"10.1111\/cgf.12446","volume":"33","author":"N Mellado","year":"2014","unstructured":"Mellado, N., Aiger, D., & Mitra, N. J. (2014). Super 4pcs fast global pointcloud registration via smart indexing. Computer Graphics Forum, 33(5), 205\u2013215.","journal-title":"Computer Graphics Forum"},{"key":"9948_CR23","doi-asserted-by":"crossref","unstructured":"Moosmann, F., & Stiller, C. (2011). Velodyne slam. In\u00a02011 IEEE Intelligent Vehicles Symposium (IV)\u00a0(pp. 393\u2013398).","DOI":"10.1109\/IVS.2011.5940396"},{"key":"9948_CR24","doi-asserted-by":"publisher","first-page":"277","DOI":"10.1007\/s11263-006-5167-2","volume":"67","author":"H Pottmann","year":"2006","unstructured":"Pottmann, H., Huang, Q. X., Yang, Y. L., & Hu, S. M. (2006). Geometry and convergence analysis of algorithms for registration of 3D shapes. International Journal of Computer Vision, 67, 277\u2013296.","journal-title":"International Journal of Computer Vision"},{"key":"9948_CR25","doi-asserted-by":"crossref","unstructured":"Shan, T., & Englot, B. (2018). LeGO-LOAM: Lightweight and ground-optimized lidar odometry and mapping on variable terrain.\u00a0In 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4758\u20134765).","DOI":"10.1109\/IROS.2018.8594299"},{"issue":"4","key":"9948_CR26","doi-asserted-by":"publisher","first-page":"295","DOI":"10.1007\/s10514-013-9354-z","volume":"36","author":"D Viejo","year":"2014","unstructured":"Viejo, D., & Cazorla, M. (2014). A robust and fast method for 6DoF motion estimation from generalized 3D data. Autonomous Robots, 36(4), 295\u2013308.","journal-title":"Autonomous Robots"},{"issue":"11","key":"9948_CR27","doi-asserted-by":"publisher","first-page":"2241","DOI":"10.1109\/TPAMI.2015.2513405","volume":"38","author":"J Yang","year":"2016","unstructured":"Yang, J., Li, H., Campbell, D., & Jia, Y. (2016). Go-ICP: A globally optimal solution to 3D ICP point-set registration. IEEE Transactions on Pattern Analysis and Machine Intelligence, 38(11), 2241\u20132254.","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"9948_CR28","doi-asserted-by":"crossref","unstructured":"Zhang, J., & Singh, S. (2014). LOAM: Lidar Odometry and Mapping in Real-time. In\u00a0Robotics: Science and Systems, 2(9).","DOI":"10.15607\/RSS.2014.X.007"},{"key":"9948_CR29","doi-asserted-by":"crossref","unstructured":"Zhang, J., & Singh, S. (2015). Visual-lidar odometry and mapping: Low-drift, robust, and fast. In\u00a02015 IEEE International Conference on Robotics and Automation (ICRA) (pp. 2174\u20132181).","DOI":"10.1109\/ICRA.2015.7139486"},{"issue":"2","key":"9948_CR30","doi-asserted-by":"publisher","first-page":"401","DOI":"10.1007\/s10514-016-9548-2","volume":"41","author":"J Zhang","year":"2017","unstructured":"Zhang, J., & Singh, S. (2017). Low-drift and real-time lidar odometry and mapping. Autonomous Robots, 41(2), 401\u2013416.","journal-title":"Autonomous Robots"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-020-09948-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10514-020-09948-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-020-09948-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,10]],"date-time":"2021-10-10T07:04:32Z","timestamp":1633849472000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10514-020-09948-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10,9]]},"references-count":30,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["9948"],"URL":"https:\/\/doi.org\/10.1007\/s10514-020-09948-3","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,10,9]]},"assertion":[{"value":"23 March 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 September 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 October 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}