{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:48:13Z","timestamp":1760237293276,"version":"build-2065373602"},"reference-count":52,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2020,3,30]],"date-time":"2020-03-30T00:00:00Z","timestamp":1585526400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the National Key Research and Development Program of China","award":["2019YFB1310003"],"award-info":[{"award-number":["2019YFB1310003"]}]},{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51775322"],"award-info":[{"award-number":["51775322"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Aiming at addressing the issues related to the tuning of loop closure detection parameters for indoor 2D graph-based simultaneous localization and mapping (SLAM), this article proposes a multi-objective optimization method for these parameters. The proposed method unifies the Karto SLAM algorithm, an efficient evaluation approach for map quality with three quantitative metrics, and a multi-objective optimization algorithm. More particularly, the evaluation metrics, i.e., the proportion of occupied grids, the number of corners and the amount of enclosed areas, can reflect the errors such as overlaps, blurring and misalignment when mapping nested loops, even in the absence of ground truth. The proposed method has been implemented and validated by testing on four datasets and two real-world environments. For all these tests, the map quality can be improved using the proposed method. Only loop closure detection parameters have been considered in this article, but the proposed evaluation metrics and optimization method have potential applications in the automatic tuning of other SLAM parameters to improve the map quality.<\/jats:p>","DOI":"10.3390\/s20071906","type":"journal-article","created":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T03:44:13Z","timestamp":1585712653000},"page":"1906","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Multi-Objective Optimization of Loop Closure Detection Parameters for Indoor 2D Simultaneous Localization and Mapping"],"prefix":"10.3390","volume":"20","author":[{"given":"Dongxiao","family":"Han","sequence":"first","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 201900, China"}]},{"given":"Yuwen","family":"Li","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 201900, China"},{"name":"Shanghai Robot Industrial Technology Research Institute, Shanghai 200062, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2319-1682","authenticated-orcid":false,"given":"Tao","family":"Song","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 201900, China"},{"name":"Shanghai Robot Industrial Technology Research Institute, Shanghai 200062, China"}]},{"given":"Zhenyang","family":"Liu","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 201900, China"}]}],"member":"1968","published-online":{"date-parts":[[2020,3,30]]},"reference":[{"key":"ref_1","first-page":"1154","article-title":"Simultaneous Localization and Mapping","volume":"Volume 3","author":"Siciliano","year":"2016","journal-title":"Springer Handbook of Robotics"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Cox, I.J., and Wilfon, G.T. 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