{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T22:06:43Z","timestamp":1782857203076,"version":"3.54.5"},"reference-count":15,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2022,9,5]],"date-time":"2022-09-05T00:00:00Z","timestamp":1662336000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003818","name":"Science and Technology Project of the State Grid Corporation of China","doi-asserted-by":"publisher","award":["5600-202046347A-0-0-00"],"award-info":[{"award-number":["5600-202046347A-0-0-00"]}],"id":[{"id":"10.13039\/501100003818","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>To improve the motion distortion caused by LiDAR data at low and medium frame rates when moving, this paper proposes an improved algorithm for scanning matching of estimated velocity that combines an IMU and odometer. First, the information of the IMU and the odometer is fused, and the pose of the LiDAR is obtained using the linear interpolation method. The ICP method is used to scan and match the LiDAR data. The data fused by the IMU and the odometer provide the optimal initial value for the ICP. The estimated speed of the LiDAR is introduced as the termination condition of the ICP method iteration to realize the compensation of the LiDAR data. The experimental comparative analysis shows that the algorithm is better than the ICP algorithm and the VICP algorithm in matching accuracy.<\/jats:p>","DOI":"10.3390\/s22176716","type":"journal-article","created":{"date-parts":[[2022,9,8]],"date-time":"2022-09-08T04:18:32Z","timestamp":1662610712000},"page":"6716","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["A Method of Calibration for the Distortion of LiDAR Integrating IMU and Odometer"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5153-6524","authenticated-orcid":false,"given":"Qiuxuan","family":"Wu","sequence":"first","affiliation":[{"name":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qinyuan","family":"Meng","sequence":"additional","affiliation":[{"name":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yangyang","family":"Tian","sequence":"additional","affiliation":[{"name":"Electric Power Research Institute of State Grid Henan Electric Power Company, Zhengzhou 450018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhongrong","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cenfeng","family":"Luo","sequence":"additional","affiliation":[{"name":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wandeng","family":"Mao","sequence":"additional","affiliation":[{"name":"Electric Power Research Institute of State Grid Henan Electric Power Company, Zhengzhou 450018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pingliang","family":"Zeng","sequence":"additional","affiliation":[{"name":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Botao","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yanbin","family":"Luo","sequence":"additional","affiliation":[{"name":"School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,9,5]]},"reference":[{"key":"ref_1","unstructured":"Li, P., Shengze, W., and Michael, K. (2021, January 19\u201322). \u03c0-SLAM:LiDAR Smoothing and Mapping With Planes. Proceedings of the 2021 IEEE International Conference on Robotics and Automation, Xi\u2019an, China."},{"key":"ref_2","first-page":"52","article-title":"High Adaptive LiDAR Simultaneous Localization and Mapping","volume":"50","author":"Rui","year":"2021","journal-title":"J. Univ. Electron. Sci. Technol. China"},{"key":"ref_3","first-page":"583","article-title":"Fast ICP-SLAM Method Based on Multi-resolution Search and Multi-density Point Cloud Matching","volume":"42","author":"Xin","year":"2020","journal-title":"Robot"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Hess, W., Kohler, D., Rapp, H., and Andor, D. (2016, January 16\u201321). Real-time loop closure in 2D LI-DAR SLAM. 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Simul."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/17\/6716\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T00:23:51Z","timestamp":1760142231000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/17\/6716"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,9,5]]},"references-count":15,"journal-issue":{"issue":"17","published-online":{"date-parts":[[2022,9]]}},"alternative-id":["s22176716"],"URL":"https:\/\/doi.org\/10.3390\/s22176716","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,9,5]]}}}