{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:51:47Z","timestamp":1760147507459,"version":"build-2065373602"},"reference-count":34,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2023,2,7]],"date-time":"2023-02-07T00:00:00Z","timestamp":1675728000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Nature Science Foundation of China","doi-asserted-by":"publisher","award":["62172188","62276114","ZH22017001210107PWC","2220004002352"],"award-info":[{"award-number":["62172188","62276114","ZH22017001210107PWC","2220004002352"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Zhuhai Industry-University-Research Cooperation Project","award":["62172188","62276114","ZH22017001210107PWC","2220004002352"],"award-info":[{"award-number":["62172188","62276114","ZH22017001210107PWC","2220004002352"]}]},{"name":"Zhuhai Industrial Core and Key Technology Program","award":["62172188","62276114","ZH22017001210107PWC","2220004002352"],"award-info":[{"award-number":["62172188","62276114","ZH22017001210107PWC","2220004002352"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Dense mapping is an important part of mobile robot navigation and environmental understanding. Aiming to address the problem that Dense Surfel Mapping relies on the input of a common-view relationship, we propose a local map extraction strategy based on spatiotemporal consistency. The local map is extracted through the inter-frame pose observability and temporal continuity. To reduce the blurring of map fusion caused by the different viewing angles, a normal constraint is added to the map fusion and weight initialization. To achieve continuous and stable time efficiency, we dynamically adjust the parameters of superpixel extraction. The experimental results on the ICL-NUIM and KITTI datasets show that the partial reconstruction accuracy is improved by approximately 27\u201343%. In addition, the system achieves a greater than 15 Hz real-time performance using only CPU computation, which is improved by approximately 13%.<\/jats:p>","DOI":"10.3390\/s23041876","type":"journal-article","created":{"date-parts":[[2023,2,8]],"date-time":"2023-02-08T02:04:16Z","timestamp":1675821856000},"page":"1876","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Dense Mapping Algorithm Based on Spatiotemporal Consistency"],"prefix":"10.3390","volume":"23","author":[{"given":"Ning","family":"Liu","sequence":"first","affiliation":[{"name":"Robotics Intelligence Technology Research Institute, Jinan University, 601 Huangpu Avenue West, Guangzhou 510632, China"},{"name":"College of Information Science and Technology, Jinan University, 601 Huangpu Avenue West, Guangzhou 510632, China"},{"name":"School of Intelligent Systems Science and Engineering, Jinan University, 206 Qianshan Road, Zhuhai 519070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chuangding","family":"Li","sequence":"additional","affiliation":[{"name":"College of Information Science and Technology, Jinan University, 601 Huangpu Avenue West, Guangzhou 510632, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4009-8618","authenticated-orcid":false,"given":"Gao","family":"Wang","sequence":"additional","affiliation":[{"name":"Robotics Intelligence Technology Research Institute, Jinan University, 601 Huangpu Avenue West, Guangzhou 510632, China"},{"name":"College of Information Science and Technology, Jinan University, 601 Huangpu Avenue West, Guangzhou 510632, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zibin","family":"Wu","sequence":"additional","affiliation":[{"name":"College of Information Science and Technology, Jinan University, 601 Huangpu Avenue West, Guangzhou 510632, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4489-2517","authenticated-orcid":false,"given":"Deping","family":"Li","sequence":"additional","affiliation":[{"name":"Robotics Intelligence Technology Research Institute, Jinan University, 601 Huangpu Avenue West, Guangzhou 510632, China"},{"name":"School of Intelligent Systems Science and Engineering, Jinan University, 206 Qianshan Road, Zhuhai 519070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"376","DOI":"10.1109\/70.88147","article-title":"Mobile robot localization by tracking geometric beacons","volume":"7","author":"Leonard","year":"1991","journal-title":"IEEE Trans. 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