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The analyzed algorithms are often exploited in mobile robotics for autonomous navigation but have not been evaluated in terms of 3D reconstruction yet. Experimental tests are carried out using two different autonomous mobile platforms in three test cases, comprising both indoor and outdoor scenarios. The 3D models obtained with the different SLAM algorithms are then compared in terms of density, accuracy, and noise of the point clouds to analyze the performance of the evaluated approaches. The experimental results indicate the SLAM methods that are more suitable for 3D mapping in terms of the quality of the reconstruction and highlight the feasibility of mobile robotics in the field of autonomous mapping.<\/jats:p>","DOI":"10.1017\/s026357472300053x","type":"journal-article","created":{"date-parts":[[2023,4,25]],"date-time":"2023-04-25T10:35:28Z","timestamp":1682418928000},"page":"2588-2604","source":"Crossref","is-referenced-by-count":44,"title":["Comparing LiDAR and IMU-based SLAM approaches for 3D robotic mapping"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9989-4988","authenticated-orcid":false,"given":"Diego","family":"Tiozzo Fasiolo","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lorenzo","family":"Scalera","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Eleonora","family":"Maset","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2023,4,25]]},"reference":[{"key":"S026357472300053X_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2010.939925"},{"key":"S026357472300053X_ref28","volume-title":"DTU Research Database","author":"Madsen","year":"2004"},{"key":"S026357472300053X_ref18","unstructured":"[18] Hahnel, D. , Burgard, W. , Fox, D. and Thrun, S. , \u201cAn Efficient FastSLAM Algorithm for Generating Maps of Large-Scale Cyclic Environments from Raw Laser Range Measurements,\u201d In: Proceedings 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), vol. 1 (2003) pp. 206\u2013211."},{"key":"S026357472300053X_ref3","doi-asserted-by":"publisher","DOI":"10.3390\/robotics11030054"},{"key":"S026357472300053X_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2013.10.023"},{"key":"S026357472300053X_ref11","doi-asserted-by":"crossref","unstructured":"[11] Wang, R. , Schworer, M. and Cremers, D. , \u201cStereo DSO: Large-Scale Direct Sparse Visual Odometry with Stereo Cameras,\u201d In: Proceedings of the IEEE International Conference on Computer Vision (2017) pp. 3903\u20133911.","DOI":"10.1109\/ICCV.2017.421"},{"key":"S026357472300053X_ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913491297"},{"key":"S026357472300053X_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2019.102963"},{"key":"S026357472300053X_ref6","first-page":"1515","volume-title":"ISARC. 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