{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T18:08:04Z","timestamp":1785434884974,"version":"3.56.0"},"reference-count":30,"publisher":"MDPI AG","issue":"13","license":[{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"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":"crossref","award":["62271192"],"award-info":[{"award-number":["62271192"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"award":["62271192"],"award-info":[{"award-number":["62271192"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012216","name":"Jiangsu Graduate Practical Innovation Program","doi-asserted-by":"publisher","award":["SJCX25-2504"],"award-info":[{"award-number":["SJCX25-2504"]}],"id":[{"id":"10.13039\/501100012216","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Traditional SLAM methods face significant challenges in complex environments, including high computational complexity, ambiguous data association, and limited real-time performance. Existing approaches often rely on explicit data association or computationally intensive filtering frameworks, which restrict their scalability and robustness. In this paper, we propose a pose-graph-optimization-based Poisson multi-Bernoulli (PMB) SLAM framework. The proposed method models the map as a unified structure consisting of undetected features represented by a Poisson point process (PPP) and detected features represented by multi-Bernoulli (MB) components, enabling consistent feature estimation while reducing the reliance on explicit data association. Furthermore, an information-controlled pose graph constraint selection strategy (IC-PGCS) is developed to effectively couple PMB filtering with pose graph optimization, allowing adaptive activation of graph optimization based on accumulated information. Simulation results demonstrate that the proposed method achieves comparable map feature estimation accuracy while improving computational efficiency and real-time performance compared with RB-PHD-SLAM and multi-Bernoulli-based SLAM methods. These results validate the effectiveness of the proposed framework for SLAM applications in cluttered indoor environments.<\/jats:p>","DOI":"10.3390\/s26134138","type":"journal-article","created":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T08:19:02Z","timestamp":1782893942000},"page":"4138","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Poisson Multi-Bernoulli Filter Driven Information-Controlled Selection of Pose Graph Constraints for SLAM"],"prefix":"10.3390","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-1387-9347","authenticated-orcid":false,"given":"Tao","family":"Li","sequence":"first","affiliation":[{"name":"Ocean College, Jiangsu University of Science and Technology, Zhenjiang 212100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-6150-2155","authenticated-orcid":false,"given":"Ying","family":"Hu","sequence":"additional","affiliation":[{"name":"Ocean College, Jiangsu University of Science and Technology, Zhenjiang 212100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1935-7048","authenticated-orcid":false,"given":"Zijing","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4488-8692","authenticated-orcid":false,"given":"Fei","family":"Zhang","sequence":"additional","affiliation":[{"name":"Ocean College, Jiangsu University of Science and Technology, Zhenjiang 212100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,7,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"4415","DOI":"10.1109\/TITS.2018.2885341","article-title":"Precise localization and mapping in indoor parking structures via parameterized SLAM","volume":"20","author":"Han","year":"2018","journal-title":"IEEE Trans. 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