{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T00:51:12Z","timestamp":1760143872537,"version":"build-2065373602"},"reference-count":51,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2024,3,3]],"date-time":"2024-03-03T00:00:00Z","timestamp":1709424000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62203111","20220008069003","BK20231434","21P01"],"award-info":[{"award-number":["62203111","20220008069003","BK20231434","21P01"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012130","name":"Aeronautical Science Foundation of China","doi-asserted-by":"publisher","award":["62203111","20220008069003","BK20231434","21P01"],"award-info":[{"award-number":["62203111","20220008069003","BK20231434","21P01"]}],"id":[{"id":"10.13039\/501100012130","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["62203111","20220008069003","BK20231434","21P01"],"award-info":[{"award-number":["62203111","20220008069003","BK20231434","21P01"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Open Fund of State Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University","award":["62203111","20220008069003","BK20231434","21P01"],"award-info":[{"award-number":["62203111","20220008069003","BK20231434","21P01"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Considering that laser scan stations are expensive and heavy for the indoor environment reconstruction of unmanned systems, a low-cost and light reconstruction system is proposed in this research. The system consists of a cross-structured light visual (SLV) sensor and an inertial navigation system (INS). The cross-SLV sensor is used to scan the surroundings and to estimate the angle change between two adjacent measurements. To improve the robustness and accuracy of the angle measurement, a Kalman Filter (KF) with simple construction is designed to fuse the inertial information from the INS. The factors which influence ranging accuracy are analyzed and ranging experiments show that the SLV sensor has an accuracy of higher than 2% when the distance is less than 4 m. Then the reconstruction results of a kitchen and corridor show that the error of most points is less than 50 mm for either kitchen (94%) or corridor (85%), and the mean errors and standard deviations of kitchen and corridor are less than 20 mm and 30 mm, respectively.<\/jats:p>","DOI":"10.3390\/rs16050899","type":"journal-article","created":{"date-parts":[[2024,3,4]],"date-time":"2024-03-04T10:11:57Z","timestamp":1709547117000},"page":"899","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Indoor Environment Reconstruction for Unmanned System Using Multiple Low-Cost Sensors"],"prefix":"10.3390","volume":"16","author":[{"given":"Yunshu","family":"Wang","sequence":"first","affiliation":[{"name":"Nanjing Research Institute of Electronic Engineering, Nanjing 210007, China"}]},{"given":"Bin","family":"Ding","sequence":"additional","affiliation":[{"name":"Nanjing Research Institute of Electronic Engineering, Nanjing 210007, China"}]},{"given":"Haiqing","family":"Wang","sequence":"additional","affiliation":[{"name":"Nanjing Research Institute of Electronic Engineering, Nanjing 210007, China"}]},{"given":"Qian","family":"Meng","sequence":"additional","affiliation":[{"name":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"},{"name":"Key Laboratory of Micro-Inertial Instruments and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China"}]},{"given":"Yuan","family":"Zhuang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430072, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3502-1453","authenticated-orcid":false,"given":"Haonan","family":"Jia","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang 050002, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,3,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Jiang, S., Liu, J., Li, Y., Weng, D., and Chen, W. 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