Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Distance Measurements by Taping01:18

Distance Measurements by Taping

94
Tapes are essential in surveying for accurate, durable, and short-distance measurements. Made from lightweight, nylon-coated steel, they offer flexibility and strength for rugged outdoor use. The nylon coating protects against rust and wear, extending the tape's life. Standard lengths, around 30 meters, are marked in meters and millimeters for precision.Surveyors select tapes based on site conditions and accuracy needs. Lightweight, nylon-coated tapes are commonly used for ease of handling and...
94
Types of Global Positioning System Surveys01:30

Types of Global Positioning System Surveys

115
GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
115
Topographic Surveying and Contours01:29

Topographic Surveying and Contours

235
Topographic surveying is critical for documenting the Earth's surface, focusing on capturing elevations, slopes, and natural and man-made features. It is essential in construction planning, water resource management, and land-use analysis. The primary outcome of such surveys is a topographic map, which uses contour lines to visually represent the shape and slope of the terrain, providing valuable insights into the landscape's characteristics.Contour lines are fundamental to understanding the...
235
Open and closed-loop control systems01:17

Open and closed-loop control systems

972
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
972
Field Application of Global Positioning System01:28

Field Application of Global Positioning System

86
The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
86
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

445
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
445

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Bio-Inspired Swarm Navigation on Resource-Constrained Robots for GPS-Denied Environments.

Sensors (Basel, Switzerland)·2026
Same author

HV-LIOM: Adaptive Hash-Voxel LiDAR-Inertial SLAM with Multi-Resolution Relocalization and Reinforcement Learning for Autonomous Exploration.

Sensors (Basel, Switzerland)·2025
Same author

Marine-Inspired Multimodal Sensor Fusion and Neuromorphic Processing for Autonomous Navigation in Unstructured Subaquatic Environments.

Sensors (Basel, Switzerland)·2025
Same author

μSonic-hand: Biomedical micromanipulation driven by acoustic gas-liquid-solid interactions.

Science advances·2025
Same author

PNANet: Probabilistic Two-Stage Detector Using Pyramid Non-Local Attention.

Sensors (Basel, Switzerland)·2023
Same author

Programmable aniso-electrodeposited modular hydrogel microrobots.

Science advances·2022
Same journal

RETRACTED: Zhang et al. A Novel Framework for Reconstruction and Imaging of Target Scattering Centers via Wide-Angle Incidence in Radar Networks. <i>Sensors</i> 2025, <i>25</i>, 6802.

Sensors (Basel, Switzerland)·2026
Same journal

Enhancing Unsupervised Multi-Source Domain Adaptation for Person Re-Identification via Mixture of Experts and Graph-Based Relation.

Sensors (Basel, Switzerland)·2026
Same journal

Development of an Instrumented Glove for Palmar Pressure Assessment in Kayakers.

Sensors (Basel, Switzerland)·2026
Same journal

Development and Experimental Validation of an Autonomous IoT-Based Monitoring System for Real-Time Water Quality Assessment in the Amazon River.

Sensors (Basel, Switzerland)·2026
Same journal

Semi-Supervised Adversarial Learning Framework for Controller Area Network Bus Intrusion Detection.

Sensors (Basel, Switzerland)·2026
Same journal

Smart Optimization Method for Safety Signs in Innovative Manufacturing Environments Integrating Industrial Field IoT Sensors and Knowledge Graphs.

Sensors (Basel, Switzerland)·2026
See all related articles

Related Experiment Video

Updated: Sep 6, 2025

Evaluating the Effect of Roadside Parking on a Dual-Direction Urban Street
14:55

Evaluating the Effect of Roadside Parking on a Dual-Direction Urban Street

Published on: January 20, 2023

3.4K

Real-Time Lidar Odometry and Mapping with Loop Closure.

Yonghui Liu1, Weimin Zhang1,2,3, Fangxing Li1,2,3

  • 1School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.

Sensors (Basel, Switzerland)
|June 24, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a novel Simultaneous Localization and Mapping (SLAM) system that separates lidar odometry from global pose optimization. This approach achieves real-time performance and high global consistency for accurate robot navigation.

Keywords:
pose graph optimizationreal-time lidar odometrysimultaneous localization and mapping (SLAM)submap-based loop-closure detection

More Related Videos

Simulating Imaging of Large Scale Radio Arrays on the Lunar Surface
06:14

Simulating Imaging of Large Scale Radio Arrays on the Lunar Surface

Published on: July 30, 2020

5.0K
Photorealistic Learned Landscapes for Augmented Reality
06:54

Photorealistic Learned Landscapes for Augmented Reality

Published on: June 27, 2025

153

Related Experiment Videos

Last Updated: Sep 6, 2025

Evaluating the Effect of Roadside Parking on a Dual-Direction Urban Street
14:55

Evaluating the Effect of Roadside Parking on a Dual-Direction Urban Street

Published on: January 20, 2023

3.4K
Simulating Imaging of Large Scale Radio Arrays on the Lunar Surface
06:14

Simulating Imaging of Large Scale Radio Arrays on the Lunar Surface

Published on: July 30, 2020

5.0K
Photorealistic Learned Landscapes for Augmented Reality
06:54

Photorealistic Learned Landscapes for Augmented Reality

Published on: June 27, 2025

153

Area of Science:

  • Robotics
  • Computer Vision
  • Artificial Intelligence

Background:

  • Simultaneous Localization and Mapping (SLAM) is crucial for real-time performance and global consistency.
  • Traditional lidar-based SLAM systems face computational challenges in achieving loop-closure detection without sacrificing odometry speed.
  • Separating front-end odometry and back-end pose optimization is a key challenge.

Purpose of the Study:

  • To propose a novel SLAM system that decouples local lidar odometry from global pose optimization.
  • To enhance real-time performance and global consistency in lidar-based SLAM.
  • To improve loop-closure detection efficiency and accuracy.

Main Methods:

  • A scan-to-submap-based local lidar odometry approach is employed.
  • Extracted edge and surface feature points are used to construct feature submaps.
  • A pose graph is utilized for loop-closure detection and global pose optimization, with a method to filter false loops.

Main Results:

  • The proposed SLAM system achieves a pose estimation frequency over 15 Hz for local lidar odometry.
  • Low drift in global consistency is demonstrated.
  • Competitive performance is achieved on public datasets.

Conclusions:

  • The proposed method effectively separates local odometry and global optimization for improved SLAM performance.
  • The system demonstrates real-time capabilities and robust global consistency.
  • The approach offers a viable solution for challenging SLAM applications.