Segment-Based SLAM Registration Optimization Algorithm Combining NDT and PL-ICP

Yi Zhang

doi:10.3390/s25237175

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Segment-Based SLAM Registration Optimization Algorithm Combining NDT and PL-ICP

2026-03-03

DOI：10.3390/s25237175

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Abstract

Keywords:

solid-state LiDAR

SLAM

registration

Journal

Sensors

IF:

3.5

Papers:

7.3W

Citations:

20.9W

Organization

Wuhan University

Scholars:

5.0K

Papers: 1.7K

Citations: 10.0W

wuhan university

Scholars:

8.1W

Papers: 5.8W

Citations: 70

Cited Papers

FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter

IEEE Robotics and Automation Letters

IF0

2021-04-01

OAAI

Wei Xu; Fu Zhang

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Tightly Coupled 3D Lidar Inertial Odometry and Mapping

2019 International Conference on Robotics and Automation (ICRA)

IF0

2019-05-01

OAAI

Haoyang Ye; Yuying Chen; Ming Liu

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An ICP variant using a point-to-line metric

2008 IEEE International Conference on Robotics and Automation

IF0

2008-05-01

OAAI

Andrea Censi

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Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV

2020 IEEE International Conference on Robotics and Automation (ICRA)

IF0

2020-05-01

OAAI

Jiarong Lin; Fu Zhang

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FAST-LIO2: Fast Direct LiDAD-Inertial Odometry

IEEE TRANSACTIONS ON ROBOTICS

IF10.5

2022-08-01

429

OAAI

Xu, Wei; Cai, Yixi; He, Dongjiao; Lin, Jiarong; Zhang, Fu

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LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

IF0

2018-10-01

PREAI

Tixiao Shan; Brendan Englot

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ICP-based pose-graph SLAM

2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

IF0

2016-10-01

OAAI

Ellon Mendes; Pierrick Koch; Simon Lacroix

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LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

IF0

2020-10-24

PREAI

Tixiao Shan; Brendan Englot; Drew Meyers; Wei Wang; Carlo Ratti; Daniela Rus

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Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping

IEEE Robotics and Automation Letters

IF0

2021-07-01

OAAI

Kailai Li; Meng Li; Uwe D. Hanebeck

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Efficient Continuous-Time SLAM for 3D Lidar-Based Online Mapping

2018 IEEE International Conference on Robotics and Automation (ICRA)

IF0

2018-05-01

OAAI

David Droeschel; Sven Behnke

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