{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,22]],"date-time":"2026-04-22T16:33:09Z","timestamp":1776875589612,"version":"3.51.2"},"reference-count":28,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2025,4,2]],"date-time":"2025-04-02T00:00:00Z","timestamp":1743552000000},"content-version":"unspecified","delay-in-days":1,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2025,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper proposes a LiDAR-inertial odometry (LIO) based on the dynamic voxel merging and smoothing method, DV-LIO. In this approach, a local map management mechanism based on feature distribution is introduced to unify the features of similar adjacent voxels through dynamic merging and segmentation, thereby improving the perceptual consistency of environmental features. Moreover, a novel noise detector that performs noise detection and incremental filtering by evaluating the consistency of voxel features is designed to further reduce local map noise and improve mapping accuracy while ensuring real-time algorithm performance. Meanwhile, to ensure the computational efficiency of the LIO system, a point cache is set for each voxel, which allows the voxel to be updated incrementally and intermittently. The proposed method is extensively evaluated on datasets gathered over various environments, including campus, park, and unstructured gardens.<\/jats:p>","DOI":"10.1017\/s026357472500030x","type":"journal-article","created":{"date-parts":[[2025,4,2]],"date-time":"2025-04-02T12:52:33Z","timestamp":1743598353000},"page":"1456-1468","source":"Crossref","is-referenced-by-count":1,"title":["DV-LIO: LiDAR-inertial Odometry based on dynamic merging and smoothing voxel"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-4269-8179","authenticated-orcid":false,"given":"Chenyu","family":"Shen","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wanbiao","family":"Lin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Siyang","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenlan","family":"Ouyang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bohan","family":"Shi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lei","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2025,4,2]]},"reference":[{"key":"S026357472500030X_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197567"},{"key":"S026357472500030X_ref19","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723001698"},{"key":"S026357472500030X_ref11","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200459"},{"key":"S026357472500030X_ref6","first-page":"1","article-title":"Loam: LiDAR odometry and mapping in real-time","volume":"2","author":"Zhang","year":"2014","journal-title":"Robot. Sci. Syst."},{"key":"S026357472500030X_ref10","doi-asserted-by":"crossref","first-page":"2053","DOI":"10.1109\/TRO.2022.3141876","article-title":"FAST-LIO2: Fast direct LiDAR-inertial odometry","volume":"38","author":"Xu","year":"2022","journal-title":"IEEE Trans. Robot."},{"key":"S026357472500030X_ref5","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1145\/355744.355745","article-title":"An algorithm for finding best matches in logarithmic expected time","volume":"3","author":"Friedman","year":"1977","journal-title":"ACM Trans. Math. Softw. (TOMS)"},{"key":"S026357472500030X_ref2","doi-asserted-by":"crossref","first-page":"442","DOI":"10.1017\/S0263574719000754","article-title":"Autonomous area exploration and mapping in underground mine environments by unmanned aerial vehicles","volume":"38","author":"Li","year":"2020","journal-title":"Robotica"},{"key":"S026357472500030X_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/UR57808.2023.10202252"},{"key":"S026357472500030X_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560835"},{"key":"S026357472500030X_ref1","doi-asserted-by":"crossref","first-page":"38","DOI":"10.1017\/S0263574721000369","article-title":"An efficient LiDAR-based localization method for self-driving cars in dynamic environments","volume":"40","author":"Zhang","year":"2022","journal-title":"Robotica"},{"key":"S026357472500030X_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811849"},{"key":"S026357472500030X_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3187250"},{"key":"S026357472500030X_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3333736"},{"key":"S026357472500030X_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3138527"},{"key":"S026357472500030X_ref3","doi-asserted-by":"crossref","first-page":"2588","DOI":"10.1017\/S026357472300053X","article-title":"Comparing LiDAR and IMU-based SLAM approaches for 3D robotic mapping","volume":"41","author":"Fasiolo","year":"2023","journal-title":"Robotica"},{"key":"S026357472500030X_ref15","doi-asserted-by":"publisher","DOI":"10.1117\/12.57955"},{"key":"S026357472500030X_ref17","first-page":"435","article-title":"Generalized-icp","volume":"2","author":"Segal","year":"2009","journal-title":"Robot. Sci. Syst."},{"key":"S026357472500030X_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560947"},{"key":"S026357472500030X_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3062815"},{"key":"S026357472500030X_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341341"},{"key":"S026357472500030X_ref26","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915614638"},{"key":"S026357472500030X_ref8","doi-asserted-by":"crossref","first-page":"5135","DOI":"10.1109\/IROS45743.2020.9341176","volume-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Shan","year":"2020"},{"key":"S026357472500030X_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3152830"},{"key":"S026357472500030X_ref4","doi-asserted-by":"crossref","first-page":"509","DOI":"10.1145\/361002.361007","article-title":"Multidimensional binary search trees used for associative searching","volume":"18","author":"Bentley","year":"1975","journal-title":"Commun. ACM"},{"key":"S026357472500030X_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594299"},{"key":"S026357472500030X_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249285"},{"key":"S026357472500030X_ref27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909103911"},{"key":"S026357472500030X_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3359548"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357472500030X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T09:47:24Z","timestamp":1750326444000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357472500030X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,4]]},"references-count":28,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2025,4]]}},"alternative-id":["S026357472500030X"],"URL":"https:\/\/doi.org\/10.1017\/s026357472500030x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,4]]}}}