{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,17]],"date-time":"2026-02-17T12:07:37Z","timestamp":1771330057131,"version":"3.50.1"},"reference-count":52,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2023,8,15]],"date-time":"2023-08-15T00:00:00Z","timestamp":1692057600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Science Foundation of China","award":["U191320"],"award-info":[{"award-number":["U191320"]}]},{"name":"National Science Foundation of China","award":["2021JC0004"],"award-info":[{"award-number":["2021JC0004"]}]},{"name":"National Science Foundation of China","award":["2022-JYAPAF-F1028"],"award-info":[{"award-number":["2022-JYAPAF-F1028"]}]},{"name":"Natural Science Foundation of Hunan Province","award":["U191320"],"award-info":[{"award-number":["U191320"]}]},{"name":"Natural Science Foundation of Hunan Province","award":["2021JC0004"],"award-info":[{"award-number":["2021JC0004"]}]},{"name":"Natural Science Foundation of Hunan Province","award":["2022-JYAPAF-F1028"],"award-info":[{"award-number":["2022-JYAPAF-F1028"]}]},{"name":"key Laboratory of Space Flight Dynamics Technology","award":["U191320"],"award-info":[{"award-number":["U191320"]}]},{"name":"key Laboratory of Space Flight Dynamics Technology","award":["2021JC0004"],"award-info":[{"award-number":["2021JC0004"]}]},{"name":"key Laboratory of Space Flight Dynamics Technology","award":["2022-JYAPAF-F1028"],"award-info":[{"award-number":["2022-JYAPAF-F1028"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Solid-state LiDAR offers multiple advantages over mechanism mechanical LiDAR, including higher durability, improved coverage ratio, and lower prices. However, solid-state LiDARs typically possess a narrow field of view, making them less suitable for odometry and mapping systems, especially for mobile autonomous systems. To address this issue, we propose a novel rotating solid-state LiDAR system that incorporates a servo motor to continuously rotate the solid-state LiDAR, expanding the horizontal field of view to 360\u00b0. Additionally, we propose a multi-sensor fusion odometry and mapping algorithm for our developed sensory system that integrates an IMU, wheel encoder, motor encoder and the LiDAR into an iterated Kalman filter to obtain a robust odometry estimation. Through comprehensive experiments, we demonstrate the effectiveness of our proposed approach in both outdoor open environments and narrow indoor environments.<\/jats:p>","DOI":"10.3390\/rs15164040","type":"journal-article","created":{"date-parts":[[2023,8,15]],"date-time":"2023-08-15T11:09:44Z","timestamp":1692097784000},"page":"4040","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["RSS-LIWOM: Rotating Solid-State LiDAR for Robust LiDAR-Inertial-Wheel Odometry and Mapping"],"prefix":"10.3390","volume":"15","author":[{"given":"Shunjie","family":"Gong","sequence":"first","affiliation":[{"name":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China"}]},{"given":"Chenghao","family":"Shi","sequence":"additional","affiliation":[{"name":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China"}]},{"given":"Hui","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6375-581X","authenticated-orcid":false,"given":"Huimin","family":"Lu","sequence":"additional","affiliation":[{"name":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China"}]},{"given":"Zhiwen","family":"Zeng","sequence":"additional","affiliation":[{"name":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0955-6681","authenticated-orcid":false,"given":"Xieyuanli","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,8,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Yan, L., Dai, J., Zhao, Y., and Chen, C. 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