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

Inertial Frames of Reference01:03

Inertial Frames of Reference

9.9K
Newton’s first law is usually considered to be a statement about reference frames. It provides a method for identifying a special type of reference frame: the inertial reference frame. In principle, we can make the net force on a body zero. If its velocity relative to a given frame is constant, then that frame is said to be inertial. So, by definition, an inertial reference frame is a reference frame where Newton's first law holds valid. Newton's first law applies to objects with...
9.9K
Three-Dimensional Force System01:30

Three-Dimensional Force System

3.0K
In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
3.0K
Gyroscope01:02

Gyroscope

4.5K
A gyroscope is defined as a spinning disk in which the axis of rotation is free to assume any orientation. When spinning, the orientation of the spin axis is unaffected by the orientation of the body that encloses it. The body or vehicle enclosing the gyroscope can be moved from place to place, while the orientation of the spin axis remains the same. This makes gyroscopes very useful in navigation, especially where magnetic compasses cannot be used, such as in crewed and crewless spacecraft,...
4.5K
Linear Momentum in Control Volume01:13

Linear Momentum in Control Volume

1.4K
Newton's second law is applied to obtain the linear momentum in a control volume in a fluid system. According to this law, the rate of change of linear momentum is equal to the sum of external forces acting on the system. When a control volume matches the fluid system at a specific moment, the forces acting on both are identical. Reynolds transport theorem helps explain this by breaking down the system's linear momentum into two components: the rate of change of linear momentum within...
1.4K
Two-Dimensional Force System01:20

Two-Dimensional Force System

1.8K
A two-dimensional system in mechanical engineering involves the analysis of motion and forces in a plane. A two-dimensional force vector can be resolved into its components as:
1.8K
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

1.5K
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
1.5K

You might also read

Related Articles

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

Sort by
Same journal

RETRACTED: Ndaguba et al. Operability of Smart Spaces in Urban Environments: A Systematic Review on Enhancing Functionality and User Experience. <i>Sensors</i> 2023, <i>23</i>, 6938.

Sensors (Basel, Switzerland)·2026
Same journal

Correction: Ma et al. A Lightweight, Low-Frequency, Broadband Underwater Acoustic Transducer with Ternary Symmetric Excitation: Integrating KNN and Terfenol-D for Enhanced Performance. <i>2026</i>, <i>26</i>, 3645.

Sensors (Basel, Switzerland)·2026
Same journal

Correction: He et al. An Edge-Computing-Based Emotion-Aware Adaptive Lighting System for Intelligent Cockpits. <i>Sensors</i> 2026, <i>26</i>, 3489.

Sensors (Basel, Switzerland)·2026
Same journal

Correction: Tu et al. Lower Limb Motion Recognition with Improved SVM Based on Surface Electromyography. <i>Sensors</i> 2024, <i>24</i>, 3097.

Sensors (Basel, Switzerland)·2026
Same journal

Real-Time Detection System for Road Roughness Based on Ultrasonic Technology.

Sensors (Basel, Switzerland)·2026
Same journal

FedHSFV: Federated Learning for Finger Vein Recognition via Hierarchical Decoupling and Subspace Metric.

Sensors (Basel, Switzerland)·2026

Related Experiment Video

Updated: Mar 29, 2026

Simultaneous Label-Free Autofluorescence Multi-Harmonic Microscopy
09:19

Simultaneous Label-Free Autofluorescence Multi-Harmonic Microscopy

Published on: August 29, 2025

707

VINA-SLAM: A Voxel-Based Inertial and Normal-Aligned LiDAR-IMU SLAM.

Ruyang Zhang1, Bingyu Sun2

  • 1School of Artificial Intelligence, Anhui University of Science and Technology, Huainan 232001, China.

Sensors (Basel, Switzerland)
|March 28, 2026
PubMed
Summary

VINA-SLAM enhances LiDAR-IMU SLAM in challenging environments by using a global voxel map for structural consistency. This novel framework improves localization accuracy and maintains real-time performance in geometrically degenerate scenes.

Keywords:
LiDAR SLAMbundle adjustmentdegenerate scenesvoxel normal consistency

More Related Videos

Direct Imaging of Laser-driven Ultrafast Molecular Rotation
10:52

Direct Imaging of Laser-driven Ultrafast Molecular Rotation

Published on: February 4, 2017

10.3K
An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field
06:52

An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field

Published on: May 26, 2020

8.8K

Related Experiment Videos

Last Updated: Mar 29, 2026

Simultaneous Label-Free Autofluorescence Multi-Harmonic Microscopy
09:19

Simultaneous Label-Free Autofluorescence Multi-Harmonic Microscopy

Published on: August 29, 2025

707
Direct Imaging of Laser-driven Ultrafast Molecular Rotation
10:52

Direct Imaging of Laser-driven Ultrafast Molecular Rotation

Published on: February 4, 2017

10.3K
An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field
06:52

An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field

Published on: May 26, 2020

8.8K

Area of Science:

  • Robotics
  • Computer Vision
  • Geospatial Analysis

Background:

  • LiDAR-IMU SLAM struggles in environments with sparse or repetitive geometry.
  • Challenges include insufficient geometric observability and unreliable data associations.

Purpose of the Study:

  • To propose VINA-SLAM, a novel LiDAR-IMU SLAM framework.
  • To improve localization accuracy in geometrically degenerate environments.

Main Methods:

  • Constructs a unified global voxel map to exploit structural consistency.
  • Tracks surface normals using a normal-guided correspondence strategy for stable scan-to-map alignment.
  • Introduces a tangent-space metric for rotational constraints and uses sliding-window bundle adjustment with IMU factors and voxel normal consistency.

Main Results:

  • Achieves stable scan-to-map alignment in degenerate scenes.
  • Reduces Absolute Trajectory Error (ATE) by 25-40% on average.
  • Maintains real-time performance at 10 Hz.

Conclusions:

  • VINA-SLAM offers a robust solution for LiDAR-IMU SLAM in challenging environments.
  • The voxel map and normal tracking enable superior performance.
  • The system demonstrates significant improvements in localization accuracy and efficiency.