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

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 constant...
Non-inertial Frames of Reference01:27

Non-inertial Frames of Reference

A reference frame accelerating or decelerating relative to an inertial frame is a non-inertial frame. To help understand this, consider what taking off in an airplane, turning a corner in a car, riding a merry-go-round, and the circular motion of a tropical cyclone all have in common. All these systems are accelerating, decelerating, or rotating relative to the Earth; hence, they all are non-inertial frames. All these systems exhibit inertial forces, which merely seem to arise from motion,...
Distance Measurements by Taping01:18

Distance Measurements by Taping

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...
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
Field Application of Global Positioning System01:28

Field Application of Global Positioning System

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...
Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device01:30

Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device

Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point served as...

You might also read

Related Articles

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

Sort by
Same author

Probabilistic Communication-State Inference for Agricultural Robots Under Wireless Degradation.

Sensors (Basel, Switzerland)·2026
Same author

AS-YOLO: Enhanced YOLO Using Ghost Bottleneck and Global Attention Mechanism for Apple Stem Segmentation.

Sensors (Basel, Switzerland)·2025
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 Videos

DB-LIO: Database-Driven LiDAR-Inertial Odometry for Memory-Bounded Persistent Mapping.

Hun-Hee Kim1,2, Ho-Hyun Kang1,2, Dong-Hee Noh1

  • 1AI Application Research Center, Korea Electronics Technology Institute (KETI), Jeonju 54853, Republic of Korea.

Sensors (Basel, Switzerland)
|May 27, 2026
PubMed
Summary
This summary is machine-generated.

Database-driven LiDAR-inertial odometry (DB-LIO) significantly reduces memory usage for long-term autonomous operation by efficiently managing keyframes. This system enables robust localization and mapping, even with large datasets, by using persistent storage and optimized caching.

Keywords:
LRU cacheLiDAR-SLAMROS2factor graph optimizationmemory managementsliding windowspatial indexing

Related Experiment Videos

Area of Science:

  • Robotics
  • Computer Vision
  • Artificial Intelligence

Background:

  • Simultaneous Localization and Mapping (SLAM) systems, particularly those using LiDAR, face memory scalability challenges due to accumulating keyframe data.
  • Extended autonomous operation leads to O(N) memory growth in traditional LiDAR-SLAM, often resulting in out-of-memory failures.

Purpose of the Study:

  • To propose DB-LIO, a database-driven LiDAR-inertial odometry system designed to overcome memory scalability limitations in SLAM for extended autonomous applications.
  • To introduce efficient keyframe management and memory bounding techniques to ensure stable system performance over long durations.

Main Methods:

  • Implemented a spatially indexed keyframe management scheme using SQLite with R-Tree indexing for efficient O(logN+k) spatial queries.
  • Developed a four-level memory bounding architecture, including cache eviction, least recently used (LRU) caching, and sliding window optimization.
  • Enabled a localization mode leveraging DB-based persistent storage for map reloading and pose estimation, facilitating map reuse.

Main Results:

  • Achieved an 81.9% reduction in memory usage (from 2888 MB to 524 MB) on a custom orchard dataset compared to an in-memory baseline.
  • Maintained equivalent trajectory accuracy, with Absolute Trajectory Error (ATE) Root Mean Square Error (RMSE) of 0.305 ± 0.001 m versus 0.296 m.
  • Validated the generalization of the localization mode across different LiDAR sensors and environments (orchard, urban) on the KITTI odometry benchmark.

Conclusions:

  • DB-LIO effectively addresses memory scalability issues in LiDAR-SLAM, enabling robust and efficient long-term autonomous operation.
  • The proposed system provides a practical solution for applications requiring persistent map storage and reuse, such as in agriculture and urban autonomous driving.
  • DB-LIO demonstrates significant memory savings without compromising trajectory accuracy, making it a viable alternative to existing in-memory SLAM systems.