{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T18:08:18Z","timestamp":1783015698469,"version":"3.54.6"},"reference-count":30,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2024,1,4]],"date-time":"2024-01-04T00:00:00Z","timestamp":1704326400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,3]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>We design a scheme for laser-inertial odometry and mapping with bundle adjustment (BA-LIOM), which can greatly mitigate the problem of undesired ground warping due to sparsity of laser scans and significantly reduce odometry drift. Specifically, an Inertial measurement unit (IMU)-assisted adaptive voxel map initialization algorithm is proposed and elaborately integrated with the existing framework LIO-SAM, allowing for accurate registration in the beginning of the localization and mapping process. In addition, to accommodate to fast-moving and structure-less scenarios, we design a tightly coupled odometry, which jointly optimizes both the IMU preintegration constraints and scan matching with adaptive voxel maps. The voxels (edge and plane, respectively) are updated with BA optimization. And then the accurate mapping result is obtained by performing local BA. The proposed BA-LIOM is thoroughly assessed using datasets collected from multiple platforms over a variety of environments. Experimental results show the superiority of BA-LIOM over the state-of-the-art methods in robustness and precision, especially for large-scale scenarios. BA-LIOM improves the accuracy of localization by <jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574723001698_inline1.png\"\/><jats:tex-math>\n$61\\%$\n<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula> and <jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574723001698_inline2.png\"\/><jats:tex-math>\n$73\\%$\n<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula> on the <jats:italic>buildings<\/jats:italic> and <jats:italic>lawn<\/jats:italic> datasets, respectively, and has a <jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574723001698_inline3.png\"\/><jats:tex-math>\n$29\\%$\n<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula> accuracy improvement over LIO-SAM on the KITTI datasets. A supplementary video can be accessed at <jats:uri xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"https:\/\/youtu.be\/5l4ZFhTc2sw\">https:\/\/youtu.be\/5l4ZFhTc2sw<\/jats:uri>.<\/jats:p>","DOI":"10.1017\/s0263574723001698","type":"journal-article","created":{"date-parts":[[2024,1,4]],"date-time":"2024-01-04T02:31:32Z","timestamp":1704335492000},"page":"684-700","source":"Crossref","is-referenced-by-count":16,"title":["BA-LIOM: tightly coupled laser-inertial odometry and mapping with bundle adjustment"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-7738-2610","authenticated-orcid":false,"given":"Ruyi","family":"Li","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xuebo","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shiyong","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jing","family":"Yuan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hui","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Songyang","family":"Wu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2024,1,4]]},"reference":[{"key":"S0263574723001698_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2463671"},{"key":"S0263574723001698_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3141876"},{"key":"S0263574723001698_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2018.2883587"},{"key":"S0263574723001698_ref14","doi-asserted-by":"publisher","DOI":"10.1017\/S026357472300053X"},{"key":"S0263574723001698_ref12","doi-asserted-by":"crossref","unstructured":"[12] Shan, T. and Englot, B. , \u201cLeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain,\u201dIEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE, 2018) (2018) pp. 4758\u20134765.","DOI":"10.1109\/IROS.2018.8594299"},{"key":"S0263574723001698_ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914554813"},{"key":"S0263574723001698_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2021.3128521"},{"key":"S0263574723001698_ref21","doi-asserted-by":"crossref","unstructured":"[21] Ye, H. , Chen, Y. and Liu, M. , \u201cTightly Coupled 3D Lidar Inertial Odometry and Mapping,\u201d International Conference on Robotics and Automation (IEEE, 2019) (2019) pp. 3144\u20133150.","DOI":"10.1109\/ICRA.2019.8793511"},{"key":"S0263574723001698_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2597321"},{"key":"S0263574723001698_ref17","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000369"},{"key":"S0263574723001698_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197567"},{"key":"S0263574723001698_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2023.3277031"},{"key":"S0263574723001698_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3064227"},{"key":"S0263574723001698_ref15","doi-asserted-by":"crossref","unstructured":"[15] Shan, T. , Englot, B. , Meyers, D. , W.Wang, C. 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