{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,17]],"date-time":"2025-10-17T20:06:26Z","timestamp":1760731586274,"version":"3.41.2"},"reference-count":35,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2023,9,19]],"date-time":"2023-09-19T00:00:00Z","timestamp":1695081600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2023,11,16]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The light detection and ranging sensor has been widely deployed in the area of simultaneous localization and mapping (SLAM) for its remarkable accuracy, but obvious drift phenomenon and large accumulated error are inevitable when using SLAM. The purpose of this study is to alleviate the accumulated error and drift phenomenon in the process of mapping.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A novel light detection and ranging SLAM system is introduced based on Normal Distributions Transform and dynamic Scan Context with switch. The pose-graph optimization is used as back-end optimization module. The loop closure detection is only operated in the scenario, while the path satisfies conditions of loop-closed.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The proposed algorithm exhibits competitiveness compared with current approaches in terms of the accumulated error and drift distance. Further, supplementary to the place recognition process that is usually performed for loop detection, the authors introduce a novel dynamic constraint that takes into account the change in the direction of the robot throughout the total path trajectory between corresponding frames, which contributes to avoiding potential misidentifications and improving the efficiency.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The proposed system is based on Normal Distributions Transform and dynamic Scan Context with switch. The pose-graph optimization is used as back-end optimization module. The loop closure detection is only operated in the scenario, while the path satisfies condition of loop-closed.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-07-2023-0145","type":"journal-article","created":{"date-parts":[[2023,9,17]],"date-time":"2023-09-17T23:49:30Z","timestamp":1694994570000},"page":"1011-1023","source":"Crossref","is-referenced-by-count":3,"title":["ODLC_SAM: a novel LiDAR SLAM system towards open-air environments with loop closure"],"prefix":"10.1108","volume":"50","author":[{"given":"Jiazhong","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuai","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaojun","family":"Tan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2023,9,19]]},"reference":[{"issue":"3","key":"key2023111504264065300_ref001","doi-asserted-by":"crossref","first-page":"108","DOI":"10.1109\/MRA.2006.1678144","article-title":"Simultaneous localization and mapping (SLAM): part II","volume":"13","year":"2006","journal-title":"IEEE Robotics & Automation Magazine"},{"key":"key2023111504264065300_ref002","first-page":"2743","article-title":"The normal distributions transform: a new approach to laser scan matching","volume":"3","year":"2003","journal-title":"Proceeding IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"issue":"6","key":"key2023111504264065300_ref003","doi-asserted-by":"crossref","first-page":"1309","DOI":"10.1109\/TRO.2016.2624754","article-title":"Past, present, and future of simultaneous localization and mapping: toward the robust-perception age","volume":"32","year":"2016","journal-title":"IEEE Transactions on Robotics"},{"key":"key2023111504264065300_ref004","first-page":"4597","article-title":"Initialization techniques for 3d slam: a survey on rotation estimation and its use in pose graph optimization","volume-title":"2015 IEEE International Conference on Robotics and Automation (ICRA) IEEE","year":"2015"},{"issue":"8","key":"key2023111504264065300_ref005","doi-asserted-by":"crossref","first-page":"1176","DOI":"10.3390\/rs10081176","article-title":"Extrinsic calibration of 2D laser rangefinders based on a mobile sphere","volume":"10","year":"2018","journal-title":"Remote Sensing"},{"article-title":"OverlapNet: loop closing for LiDAR-based SLAM","volume-title":"arXiv preprint arXiv:2105.11344","year":"2021","key":"key2023111504264065300_ref006"},{"first-page":"2145","article-title":"Unsupervised geometry-aware deep LiDAR odometry","year":"2020","key":"key2023111504264065300_ref007"},{"issue":"6","key":"key2023111504264065300_ref008","doi-asserted-by":"crossref","first-page":"1052","DOI":"10.1109\/TPAMI.2007.1049","article-title":"MonoSLAM: real-time single camera SLAM","volume":"29","year":"2007","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"first-page":"2480","article-title":"IMLS-SLAM: scan-to-model matching based on 3D data","year":"2018","key":"key2023111504264065300_ref009"},{"issue":"3","key":"key2023111504264065300_ref010","doi-asserted-by":"crossref","first-page":"611","DOI":"10.1109\/TPAMI.2017.2658577","article-title":"Direct sparse odometry","volume":"40","year":"2018","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"first-page":"3354","article-title":"Are we ready for autonomous driving? 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