{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:52:51Z","timestamp":1760241171401,"version":"build-2065373602"},"reference-count":55,"publisher":"MDPI AG","issue":"23","license":[{"start":{"date-parts":[[2019,12,1]],"date-time":"2019-12-01T00:00:00Z","timestamp":1575158400000},"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":["61563014","61663010","61963017"],"award-info":[{"award-number":["61563014","61663010","61963017"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Key Research and Development Project of Jiangxi Province, China","award":["20171BBH80024"],"award-info":[{"award-number":["20171BBH80024"]}]},{"name":"Outstanding Youth Planning Project of Jiangxi Province, China","award":["20192BCBL23004"],"award-info":[{"award-number":["20192BCBL23004"]}]},{"name":"Science and Technology Research Foundation of Jiangxi Provincial Education Department, China","award":["GJJ180314"],"award-info":[{"award-number":["GJJ180314"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, we present a novel red-green-blue-depth simultaneous localization and mapping (RGB-D SLAM) algorithm based on cloud robotics, which combines RGB-D SLAM with the cloud robot and offloads the back-end process of the RGB-D SLAM algorithm to the cloud. This paper analyzes the front and back parts of the original RGB-D SLAM algorithm and improves the algorithm from three aspects: feature extraction, point cloud registration, and pose optimization. Experiments show the superiority of the improved algorithm. In addition, taking advantage of the cloud robotics, the RGB-D SLAM algorithm is combined with the cloud robot and the back-end part of the computationally intensive algorithm is offloaded to the cloud. Experimental validation is provided, which compares the cloud robotic-based RGB-D SLAM algorithm with the local RGB-D SLAM algorithm. The results of the experiments demonstrate the superiority of our framework. The combination of cloud robotics and RGB-D SLAM can not only improve the efficiency of SLAM but also reduce the robot\u2019s price and size.<\/jats:p>","DOI":"10.3390\/s19235288","type":"journal-article","created":{"date-parts":[[2019,12,2]],"date-time":"2019-12-02T10:50:45Z","timestamp":1575283845000},"page":"5288","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["A Novel RGB-D SLAM Algorithm Based on Cloud Robotics"],"prefix":"10.3390","volume":"19","author":[{"given":"Yanli","family":"Liu","sequence":"first","affiliation":[{"name":"School of Information Engineering, East China Jiaotong University, Nanchang 330013, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9027-3261","authenticated-orcid":false,"given":"Heng","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Information Engineering, East China Jiaotong University, Nanchang 330013, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Huang","sequence":"additional","affiliation":[{"name":"School of Information Engineering, East China Jiaotong University, Nanchang 330013, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,12,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Li, R., Liu, J., Zhang, L., and Hang, Y. 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