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Reasonable constraints on the ground motion of the mobile robot are incorporated to limit the Z-axis drift error. At the same time, considering the influence of initial positioning error on navigation, a keyframe selection strategy is designed to effectively improve the flatness and accuracy of positioning and the efficiency of loop detection. If GNSS is available, the GNSS factor is added to eliminate the cumulative error of the trajectory. Finally, a large number of experiments are carried out on the self-developed robot platform to verify the effectiveness of the algorithm. The results show that this method can effectively improve location accuracy in outdoor environments, especially in environments of feature degradation and large scale.<\/jats:p>","DOI":"10.1017\/s0263574724000237","type":"journal-article","created":{"date-parts":[[2024,2,26]],"date-time":"2024-02-26T11:21:10Z","timestamp":1708946470000},"page":"1246-1261","source":"Crossref","is-referenced-by-count":9,"title":["Outdoor LiDAR-inertial SLAM using ground constraints"],"prefix":"10.1017","volume":"42","author":[{"given":"Yating","family":"Hu","sequence":"first","affiliation":[]},{"given":"Qigao","family":"Zhou","sequence":"additional","affiliation":[]},{"given":"Zhejun","family":"Miao","sequence":"additional","affiliation":[]},{"given":"Hang","family":"Yuan","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0009-0000-1127-4603","authenticated-orcid":false,"given":"Shuang","family":"Liu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2024,2,26]]},"reference":[{"key":"S0263574724000237_ref36","first-page":"335","volume-title":"Intelligent Autonomous Systems","author":"Thomas","year":"2016"},{"key":"S0263574724000237_ref9","doi-asserted-by":"publisher","DOI":"10.3390\/s20185150"},{"key":"S0263574724000237_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2945031"},{"key":"S0263574724000237_ref24","doi-asserted-by":"crossref","unstructured":"[24] Gentil, C. , Vidal-Calleja, T. and Huang, S. , \u201cIN2LAMA: INertial Lidar Localisation And MApping,\u201d In: 2019 International Conference on Robotics and Automation (ICRA), Montreal, Canada (2019) pp. 6388\u20136394.","DOI":"10.1109\/ICRA.2019.8794429"},{"key":"S0263574724000237_ref31","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2022.104287"},{"key":"S0263574724000237_ref17","doi-asserted-by":"publisher","DOI":"10.3390\/s150923286"},{"key":"S0263574724000237_ref23","doi-asserted-by":"crossref","unstructured":"[23] Wang, H. , Wang, C. and Xie, L. . 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