{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,25]],"date-time":"2026-02-25T01:33:22Z","timestamp":1771983202608,"version":"3.50.1"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"8","license":[{"start":{"date-parts":[[2025,9,24]],"date-time":"2025-09-24T00:00:00Z","timestamp":1758672000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2025,9,24]],"date-time":"2025-09-24T00:00:00Z","timestamp":1758672000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"funder":[{"name":"the Key R&D Program of Zhejiang","award":["Grant No. 2022C02042"],"award-info":[{"award-number":["Grant No. 2022C02042"]}]},{"name":"the Key R&D Program of Zhejiang","award":["Grant No. 2023C02053"],"award-info":[{"award-number":["Grant No. 2023C02053"]}]},{"name":"the R&D Project of National Forest and Grass Machinery Sci-Tech Innovation Park","award":["Grant No. 2023YG03"],"award-info":[{"award-number":["Grant No. 2023YG03"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J. King Saud Univ. Comput. Inf. Sci."],"published-print":{"date-parts":[[2025,10]]},"DOI":"10.1007\/s44443-025-00221-0","type":"journal-article","created":{"date-parts":[[2025,9,24]],"date-time":"2025-09-24T16:06:13Z","timestamp":1758729973000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Localization and mapping method for forestry mobile platforms based on enhanced Hector SLAM"],"prefix":"10.1007","volume":"37","author":[{"given":"Liwen","family":"Yao","sequence":"first","affiliation":[]},{"given":"Junhao","family":"Wen","sequence":"additional","affiliation":[]},{"given":"Ce","family":"Bian","sequence":"additional","affiliation":[]},{"given":"Yuhong","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Lijun","family":"Xu","sequence":"additional","affiliation":[]},{"given":"Lijian","family":"Yao","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,9,24]]},"reference":[{"key":"221_CR1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2021.106237","volume":"187","author":"M Chen","year":"2021","unstructured":"Chen M, Tang Y, Zou X, Huang Z, Chen S (2021) 3D global mapping of large-scale unstructured orchard integrating eye-in-hand stereo vision and slam. Comput Electron Agric 187:106237. https:\/\/doi.org\/10.1016\/j.compag.2021.106237","journal-title":"Comput Electron Agric"},{"issue":"10","key":"221_CR2","doi-asserted-by":"publisher","first-page":"9060","DOI":"10.1016\/j.jksuci.2022.08.031","volume":"34","author":"MH Haider","year":"2022","unstructured":"Haider MH, Wang Z, Khan AA, Ali H, Zheng H, Usman S et al (2022) Robust mobile robot navigation in cluttered environments based on hybrid adaptive neuro-fuzzy inference and sensor fusion. J King Saud Univ-Comput Inf Sci 34(10):9060\u20139070. https:\/\/doi.org\/10.1016\/j.jksuci.2022.08.031","journal-title":"J King Saud Univ-Comput Inf Sci"},{"key":"221_CR3","doi-asserted-by":"publisher","first-page":"6","DOI":"10.1007\/s10846-023-01858-7","volume":"108","author":"S He","year":"2023","unstructured":"He S, Song T, Wang P, Ding C, Wu X (2023) An enhanced adaptive monte carlo localization for service robots in dynamic and featureless environments. Journal of Intelligent & Robotic Systems: Theory & Application 108:6. https:\/\/doi.org\/10.1007\/s10846-023-01858-7","journal-title":"Journal of Intelligent & Robotic Systems: Theory & Application"},{"issue":"2","key":"221_CR4","doi-asserted-by":"publisher","first-page":"487","DOI":"10.1109\/ICDSCA59871.2023.10393683","volume":"39","author":"X Hu","year":"2024","unstructured":"Hu X, Liu S, Zhao J (2024) Research on robot navigation technology based on laser slam. Int J Robot Autom 39(2):487\u2013494. https:\/\/doi.org\/10.1109\/ICDSCA59871.2023.10393683","journal-title":"Int J Robot Autom"},{"issue":"10","key":"221_CR5","doi-asserted-by":"publisher","first-page":"4808","DOI":"10.3390\/s23104808","volume":"23","author":"A Jiang","year":"2023","unstructured":"Jiang A, Ahamed T (2023) Navigation of an autonomous spraying robot for orchard operations using LiDAR for tree trunk detection. Sensors (Basel) 23(10):4808. https:\/\/doi.org\/10.3390\/s23104808","journal-title":"Sensors (Basel)"},{"key":"221_CR6","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2024.108870","volume":"220","author":"S Jiang","year":"2024","unstructured":"Jiang S, Qi P, Han L, Liu L, Li Y, Huang Z et al (2024) Navigation system for orchard spraying robot based on 3D LiDAR SLAM with NDT_ICP point cloud registration. Comput Electron Agric 220:108870. https:\/\/doi.org\/10.1016\/j.compag.2024.108870","journal-title":"Comput Electron Agric"},{"issue":"3","key":"221_CR7","doi-asserted-by":"publisher","first-page":"1458","DOI":"10.1109\/TASE.2022.3169442","volume":"19","author":"GPC J\u00fanior","year":"2022","unstructured":"J\u00fanior GPC, Rezende AM, Miranda VR, Fernandes R, Azp\u00farua H, Neto AA et al (2022) EKF-LOAM: an adaptive fusion of LiDAR SLAM with wheel odometry and inertial data for confined spaces with few geometric features. IEEE Trans Autom Sci Eng 19(3):1458\u20131471. https:\/\/doi.org\/10.1109\/TASE.2022.3169442","journal-title":"IEEE Trans Autom Sci Eng"},{"issue":"7","key":"221_CR8","doi-asserted-by":"publisher","DOI":"10.3390\/agriculture14070979","volume":"14","author":"F Kong","year":"2024","unstructured":"Kong F, Liu B, Han X, Yi L, Sun H, Liu J, Liu L, Lan Y (2024) Path planning algorithm of orchard fertilization robot based on multi-constrained Bessel curve. Agriculture (Basel) 14(7):979. https:\/\/doi.org\/10.3390\/agriculture14070979","journal-title":"Agriculture (Basel)"},{"issue":"7","key":"221_CR9","doi-asserted-by":"publisher","DOI":"10.3390\/F12070820","volume":"12","author":"G Lei","year":"2021","unstructured":"Lei G, Yao R, Zhao Y, Zheng Y (2021) Detection and modeling of unstructured roads in forest areas based on visual-2d lidar data fusion. Forests 12(7):820. https:\/\/doi.org\/10.3390\/F12070820","journal-title":"Forests"},{"key":"221_CR10","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1016\/j.compag.2024.108994","volume":"221","author":"Q Li","year":"2024","unstructured":"Li Q, Zhu H (2024) Performance evaluation of 2d lidar slam algorithms in simulated orchard environments. Comput Electron Agric 221:14. https:\/\/doi.org\/10.1016\/j.compag.2024.108994","journal-title":"Comput Electron Agric"},{"issue":"4","key":"221_CR11","doi-asserted-by":"publisher","first-page":"144","DOI":"10.1007\/s10846-024-02123-1","volume":"110","author":"Z Li","year":"2024","unstructured":"Li Z, Chamran K, Alobaedy MM, Sheikh MA, Siddiqui T, Ahad A (2024) An optimization on 2d-slam map construction algorithm based on lidar. J Intell Robot Syst 110(4):144. https:\/\/doi.org\/10.1007\/s10846-024-02123-1","journal-title":"J Intell Robot Syst"},{"issue":"23","key":"221_CR12","doi-asserted-by":"publisher","first-page":"6133","DOI":"10.3390\/rs14236133","volume":"14","author":"Y Liu","year":"2022","unstructured":"Liu Y, Wang C, Wu H, Wei Y, Ren M, Zhao C (2022) Improved LiDAR localization method for mobile robots based on multi-sensing. Remote Sens 14(23):6133. https:\/\/doi.org\/10.3390\/rs14236133","journal-title":"Remote Sens"},{"issue":"3","key":"221_CR13","doi-asserted-by":"publisher","DOI":"10.1016\/j.jksuci.2024.101982","volume":"36","author":"C Liu","year":"2024","unstructured":"Liu C, Zhao J, Sun N (2024) Vision-inertial collaborative localization of multi-agents with remote interaction. Journal of King Saud University - Computer and Information Sciences 36(3):101982. https:\/\/doi.org\/10.1016\/j.jksuci.2024.101982","journal-title":"Journal of King Saud University - Computer and Information Sciences"},{"issue":"23","key":"221_CR14","doi-asserted-by":"publisher","first-page":"9579","DOI":"10.3390\/s23239579","volume":"23","author":"KTY Mahima","year":"2023","unstructured":"Mahima KTY, Perera A, Anavatti S, Garratt M (2023) Exploring adversarial robustness of LiDAR semantic segmentation in autonomous driving. Sensors (Basel) 23(23):9579. https:\/\/doi.org\/10.3390\/s23239579","journal-title":"Sensors (Basel)"},{"issue":"3","key":"221_CR15","doi-asserted-by":"publisher","first-page":"675","DOI":"10.3390\/rs14030675","volume":"14","author":"W Mao","year":"2022","unstructured":"Mao W, Liu H, Hao W, Yang F, Liu Z (2022) Development of a combined orchard harvesting robot navigation system. Remote Sens 14(3):675. https:\/\/doi.org\/10.3390\/rs14030675","journal-title":"Remote Sens"},{"issue":"9","key":"221_CR16","doi-asserted-by":"publisher","DOI":"10.1088\/1361-6501\/ad56b1","volume":"35","author":"X Meng","year":"2024","unstructured":"Meng X, Chen X, Chen S, Fang Y, Fan H, Luo J et al (2024) An improved LIO-SAM algorithm by integrating image information for dynamic and unstructured environments. Meas Sci Technol 35(9):096313. https:\/\/doi.org\/10.1088\/1361-6501\/ad56b1","journal-title":"Meas Sci Technol"},{"issue":"8","key":"221_CR17","doi-asserted-by":"publisher","first-page":"6019","DOI":"10.1016\/j.jksuci.2021.02.015","volume":"34","author":"PK Panigrahi","year":"2021","unstructured":"Panigrahi PK, Bisoy SK (2021) Localization strategies for autonomous mobile robots: a review. Journal of King Saud University - Computer and Information Sciences 34(8):6019\u20136039. https:\/\/doi.org\/10.1016\/j.jksuci.2021.02.015","journal-title":"Journal of King Saud University - Computer and Information Sciences"},{"issue":"12","key":"221_CR18","doi-asserted-by":"publisher","first-page":"11649","DOI":"10.1109\/LRA.2024.3496334","volume":"9","author":"ER Potokar","year":"2024","unstructured":"Potokar ER, Mcgann D, Kaess M (2024) Robust preintegrated wheel odometry for off-road autonomous ground vehicles. IEEE Robot Autom Lett 9(12):11649\u201311656. https:\/\/doi.org\/10.1109\/LRA.2024.3496334","journal-title":"IEEE Robot Autom Lett"},{"issue":"1","key":"221_CR19","doi-asserted-by":"publisher","first-page":"45","DOI":"10.3390\/agriculture14010045","volume":"14","author":"J Shi","year":"2024","unstructured":"Shi J, Bai Y, Zhou J, Zhang B (2024) Multi-crop navigation line extraction based on improved YOLO-v8 and threshold-DBSCAN under complex agricultural environments. Agriculture 14(1):45. https:\/\/doi.org\/10.3390\/agriculture14010045","journal-title":"Agriculture"},{"key":"221_CR20","doi-asserted-by":"publisher","first-page":"162122","DOI":"10.1109\/ACCESS.2024.3408467","volume":"12","author":"B Tang","year":"2024","unstructured":"Tang B, Guo Z, Huang C, Huai S, Gai J (2024) A fruit-tree mapping system for semi-structured orchards based on multi-sensor-fusion slam. IEEE Access 12:162122\u2013162130. https:\/\/doi.org\/10.1109\/ACCESS.2024.3408467","journal-title":"IEEE Access"},{"issue":"18","key":"221_CR21","doi-asserted-by":"publisher","first-page":"6903","DOI":"10.3390\/s22186903","volume":"22","author":"K Trejos","year":"2022","unstructured":"Trejos K, Rinc\u00f3n L, Bola\u00f1os M, Fallas J, Mar\u00edn L (2022) 2D SLAM algorithms characterization, calibration, and comparison considering pose error, map accuracy as well as CPU and memory usage. Sensors 22(18):6903. https:\/\/doi.org\/10.3390\/s22186903","journal-title":"Sensors"},{"key":"221_CR22","first-page":"873","volume":"668","author":"A Waga","year":"2023","unstructured":"Waga A, Benhouria Y, Ba-Ichou A, Benhlima S, Bekri A, Abdouni J (2023) A New Method for Mobile Robots to Learn an Optimal Policy from an Expert Using Deep Imitation Learning. International Conference on Digital Technologies and Applications. Cham: Springer Nature Switzerland 668:873\u2013882","journal-title":"Cham: Springer Nature Switzerland"},{"issue":"3","key":"221_CR23","doi-asserted-by":"publisher","first-page":"3061","DOI":"10.11591\/ijai.v13.i3.pp3061-3071","volume":"13","author":"A Waga","year":"2024","unstructured":"Waga A, Ba-ichou A, Benhlima S, Bekri A, Abdouni J (2024) Efficient autonomous navigation for mobile robots usingmachine learning. IAES Int J Artif Intell 13(3):3061\u20133071. https:\/\/doi.org\/10.11591\/ijai.v13.i3.pp3061-3071","journal-title":"IAES Int J Artif Intell"},{"key":"221_CR24","doi-asserted-by":"publisher","first-page":"75","DOI":"10.1007\/s11370-024-00569-8","volume":"18","author":"A Waga","year":"2025","unstructured":"Waga A, Benhlima S, Bekri A, Abdouni J (2025) A novel approach for end-to-end navigation for real mobile robots using a deep hybrid model. Intel Serv Robotics 18:75\u201395. https:\/\/doi.org\/10.1007\/s11370-024-00569-8","journal-title":"Intel Serv Robotics"},{"key":"221_CR25","doi-asserted-by":"publisher","DOI":"10.3389\/fpls.2022.960686","volume":"13","author":"S Wang","year":"2022","unstructured":"Wang S, Song J, Qi P, Yuan C, Wu H, Zhang L, Liu W, Liu Y, He X (2022) Design and development of orchard autonomous navigation spray system. Front Plant Sci 13:960686. https:\/\/doi.org\/10.3389\/fpls.2022.960686","journal-title":"Front Plant Sci"},{"issue":"6","key":"221_CR26","doi-asserted-by":"publisher","DOI":"10.1016\/j.jksuci.2024.102115","volume":"36","author":"C Wang","year":"2024","unstructured":"Wang C, Zhou W, Wang G (2024) Ord-wm: a two-stage loop closure detection algorithm for dense scenes. Journal of King Saud University - Computer and Information Sciences 36(6):102115. https:\/\/doi.org\/10.1016\/j.jksuci.2024.102115","journal-title":"Journal of King Saud University - Computer and Information Sciences"},{"key":"221_CR27","doi-asserted-by":"publisher","DOI":"10.3389\/fpls.2023.1207742","volume":"14","author":"Y Xia","year":"2023","unstructured":"Xia Y, Lei X, Pan J, Chen L, Zhang Z, Lyu X (2023) Research on orchard navigation method based on fusion of 3D SLAM and point cloud positioning. Front Plant Sci 14:1207742. https:\/\/doi.org\/10.3389\/fpls.2023.1207742","journal-title":"Front Plant Sci"},{"issue":"12","key":"221_CR28","doi-asserted-by":"publisher","DOI":"10.3390\/rs14122835","volume":"14","author":"X Xu","year":"2022","unstructured":"Xu X, Zhang L, Yang J, Cao C, Wang W, Ran Y et al (2022) A review of multi-sensor fusion slam systems based on 3D lidar. Remote Sens 14(12):2835. https:\/\/doi.org\/10.3390\/rs14122835","journal-title":"Remote Sens"},{"issue":"6","key":"221_CR29","doi-asserted-by":"publisher","first-page":"1895","DOI":"10.13031\/trans.13737","volume":"63","author":"L Yao","year":"2020","unstructured":"Yao L, Pitla SK, Zhao C, Liew C, Hu D, Yang Z (2020) An improved fuzzy logic control method for path tracking of an autonomous vehicle. Trans ASABE 63(6):1895\u20131904. https:\/\/doi.org\/10.13031\/trans.13737","journal-title":"Trans ASABE"},{"issue":"3","key":"221_CR30","doi-asserted-by":"publisher","first-page":"4243","DOI":"10.1109\/JIOT.2023.3300018","volume":"11","author":"H Yao","year":"2024","unstructured":"Yao H, Liang X, Chen R, Wang X, Qi H, Chen L, Wang Y (2024) A benchmark of absolute and relative positioning solutions in GNSS denied environments. IEEE Internet Things J 11(3):4243\u20134273. https:\/\/doi.org\/10.1109\/JIOT.2023.3300018","journal-title":"IEEE Internet Things J"},{"key":"221_CR31","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/8867937","author":"X Zhang","year":"2020","unstructured":"Zhang X, Lai J, Xu D, Li H, Fu M (2020) 2D lidar-based slam and path planning for indoor rescue using mobile robots. J Adv Transp. https:\/\/doi.org\/10.1155\/2020\/8867937","journal-title":"J Adv Transp"},{"issue":"2","key":"221_CR32","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1504\/IJSNET.2023.131656","volume":"42","author":"Y Zhang","year":"2023","unstructured":"Zhang Y, Li R, Chen Q, Zhi D, Wang X, Feng C, Shang J, Jiang S (2023) An improved bicubic interpolation SLAM algorithm based on multi-sensor fusion method for rescue robot. Int J Sens Netw 42(2):125\u2013136. https:\/\/doi.org\/10.1504\/IJSNET.2023.131656","journal-title":"Int J Sens Netw"},{"issue":"1","key":"221_CR33","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-024-81084-9","volume":"14","author":"X Zhang","year":"2024","unstructured":"Zhang X, Liu Y, Liu J, Chen X, Xu R, Ma W et al (2024) An autonomous navigation system with a trajectory prediction-based decision mechanism for rubber forest navigation. Sci Rep 14(1):29495. https:\/\/doi.org\/10.1038\/s41598-024-81084-9","journal-title":"Sci Rep"}],"container-title":["Journal of King Saud University Computer and Information Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s44443-025-00221-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s44443-025-00221-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s44443-025-00221-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,29]],"date-time":"2025-10-29T15:38:31Z","timestamp":1761752311000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s44443-025-00221-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,24]]},"references-count":33,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2025,10]]}},"alternative-id":["221"],"URL":"https:\/\/doi.org\/10.1007\/s44443-025-00221-0","relation":{},"ISSN":["1319-1578","2213-1248"],"issn-type":[{"value":"1319-1578","type":"print"},{"value":"2213-1248","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9,24]]},"assertion":[{"value":"12 May 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"31 July 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 September 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"229"}}