{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,18]],"date-time":"2026-08-18T04:27:10Z","timestamp":1787027230115,"version":"build-2736575974"},"reference-count":23,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2024,9,25]],"date-time":"2024-09-25T00:00:00Z","timestamp":1727222400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>High-precision simultaneous localization and mapping (SLAM) in dynamic real-world environments plays a crucial role in autonomous robot navigation, self-driving cars, and drone control. To address this dynamic localization issue, in this paper, a dynamic odometry method is proposed based on FAST-LIVO, a fast LiDAR (light detection and ranging)\u2013inertial\u2013visual odometry system, integrating neural networks with laser, camera, and inertial measurement unit modalities. The method first constructs visual\u2013inertial and LiDAR\u2013inertial odometry subsystems. Then, a lightweight neural network is used to remove dynamic elements from the visual part, and dynamic clustering is applied to the LiDAR part to eliminate dynamic environments, ensuring the reliability of the remaining environmental data. Validation of the datasets shows that the proposed multi-sensor fusion dynamic odometry can achieve high-precision pose estimation in complex dynamic environments with high continuity, reliability, and dynamic robustness.<\/jats:p>","DOI":"10.3390\/s24196193","type":"journal-article","created":{"date-parts":[[2024,9,25]],"date-time":"2024-09-25T04:01:24Z","timestamp":1727236884000},"page":"6193","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Improved Multi-Sensor Fusion Dynamic Odometry Based on Neural Networks"],"prefix":"10.3390","volume":"24","author":[{"given":"Lishu","family":"Luo","sequence":"first","affiliation":[{"name":"Xi\u2019an Institute of Applied Optics, Xi\u2019an 710065, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fulun","family":"Peng","sequence":"additional","affiliation":[{"name":"Xi\u2019an Institute of Applied Optics, Xi\u2019an 710065, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Longhui","family":"Dong","sequence":"additional","affiliation":[{"name":"Xi\u2019an Institute of Applied Optics, Xi\u2019an 710065, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,9,25]]},"reference":[{"key":"ref_1","first-page":"7500709","article-title":"An integrated GNSS\/LiDAR-SLAM pose estimation framework for large-scale map building in partially GNSS-denied environments","volume":"70","author":"He","year":"2020","journal-title":"IEEE Trans. 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