{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,12]],"date-time":"2026-02-12T17:08:22Z","timestamp":1770916102731,"version":"3.50.1"},"reference-count":57,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2024,5,30]],"date-time":"2024-05-30T00:00:00Z","timestamp":1717027200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key R&amp;D Program of China","award":["2023YFC3209105"],"award-info":[{"award-number":["2023YFC3209105"]}]},{"name":"National Key R&amp;D Program of China","award":["2042024kf0035"],"award-info":[{"award-number":["2042024kf0035"]}]},{"name":"Fundamental Research Funds for the Central Universities","award":["2023YFC3209105"],"award-info":[{"award-number":["2023YFC3209105"]}]},{"name":"Fundamental Research Funds for the Central Universities","award":["2042024kf0035"],"award-info":[{"award-number":["2042024kf0035"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Advancements in robotics and mapping technology have spotlighted the development of Simultaneous Localization and Mapping (SLAM) systems as a key research area. However, the high cost of advanced SLAM systems poses a significant barrier to research and development in the field, while many low-cost SLAM systems, operating under resource constraints, fail to achieve high-precision real-time mapping and localization, rendering them unsuitable for practical applications. This paper introduces a cost-effective SLAM system design that maintains high performance while significantly reducing costs. Our approach utilizes economical components and efficient algorithms, addressing the high-cost barrier in the field. First, we developed a robust robotic platform based on a traditional four-wheeled vehicle structure, enhancing flexibility and load capacity. Then, we adapted the SLAM algorithm using the LiDAR-inertial Odometry framework coupled with the Fast Iterative Closest Point (ICP) algorithm to balance accuracy and real-time performance. Finally, we integrated the 3D multi-goal Rapidly exploring Random Tree (RRT) algorithm with Nonlinear Model Predictive Control (NMPC) for autonomous exploration in complex environments. Comprehensive experimental results confirm the system\u2019s capability for real-time, autonomous navigation and mapping in intricate indoor settings, rivaling more expensive SLAM systems in accuracy and efficiency at a lower cost. Our research results are published as open access, facilitating greater accessibility and collaboration.<\/jats:p>","DOI":"10.3390\/rs16111979","type":"journal-article","created":{"date-parts":[[2024,5,31]],"date-time":"2024-05-31T03:46:49Z","timestamp":1717127209000},"page":"1979","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["A Low-Cost 3D SLAM System Integration of Autonomous Exploration Based on Fast-ICP Enhanced LiDAR-Inertial Odometry"],"prefix":"10.3390","volume":"16","author":[{"given":"Conglin","family":"Pang","sequence":"first","affiliation":[{"name":"Electronic Information School, Wuhan University, Wuhan 430072, China"}]},{"given":"Liqing","family":"Zhou","sequence":"additional","affiliation":[{"name":"Electronic Information School, Wuhan University, Wuhan 430072, China"}]},{"given":"Xianfeng","family":"Huang","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430072, China"},{"name":"Intellectual Computing Laboratory for Cultural Heritage, Wuhan University, Wuhan 430072, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,5,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"56","DOI":"10.1177\/027836498600500404","article-title":"On the representation and estimation of spatial uncertainty","volume":"5","author":"Smith","year":"1986","journal-title":"Int. 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