Research on a novel SLAM method fusion of vision and LIDAR in indoor dynamic environment

Research on a novel SLAM method fusion of vision and LIDAR in indoor dynamic environment | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Research on a novel SLAM method fusion of vision and LIDAR in indoor dynamic environment Rui Li, Shiqiang Yang, Mingjing Li, Jiaxiang Wang This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4932875/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 10 You are reading this latest preprint version Abstract Simultaneous Localization and Mapping (SLAM) is one of the core technologies for mobile robots. With the increasing complexity of the environment, the existing 2D laser SLAM has poor quality due to the interference of dynamic objects. Meanwhile, the single-sensor laser SLAM has the problem of insufficient positioning accuracy in a single-structured environment. To address the above drawbacks, this paper studied a novel SLAM method using vision and laser fusion in an indoor dynamic environment based on the Cartographer algorithm.In more details, the dynamic target removal method based on LiDAR (light detection and ranging) detection used to solve the dynamic object interference.Moreover, a laser and vision fusion localization method was proposed for improving the limitation of a single LiDAR sensor. LiDAR to verify the effectiveness of the proposed method, experiments are conducted in the building scene and the long straight path scene respectively. The experimental results demonstrated that the proposed method effectively removed the interference brought by dynamic objects during the map building and the absolute trajectory root mean square error was reduced by 85.45% on average in the structural single environment. The experimental results further verified that the proposed SLAM method improved the quality of map building and positioning accuracy in complex environments. Physical sciences/Engineering Physical sciences/Mathematics and computing SALM dynamic target detection LiDAR and vision fusion Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Editorial decision: Revision requested 21 Sep, 2025 Reviews received at journal 20 Apr, 2025 Reviews received at journal 10 Apr, 2025 Reviewers agreed at journal 05 Apr, 2025 Reviewers agreed at journal 04 Apr, 2025 Reviewers invited by journal 03 Apr, 2025 Editor assigned by journal 28 Nov, 2024 Editor invited by journal 03 Sep, 2024 Submission checks completed at journal 31 Aug, 2024 First submitted to journal 18 Aug, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4932875","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":359430298,"identity":"f5412718-c35a-4651-b651-1afbad464055","order_by":0,"name":"Rui Li","email":"","orcid":"","institution":"Xi'an University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Rui","middleName":"","lastName":"Li","suffix":""},{"id":359430299,"identity":"2f012f93-2d96-495e-88c4-7c4b6521b925","order_by":1,"name":"Shiqiang Yang","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAuElEQVRIiWNgGAWjYPACGx5+9gbStKTJSPYcIE3LYRuDGw5EqjU4fvbwyx9l53kYbjAwfviYQ4yWM3lp1jznbvMwzm5glpy5jRgtB3LMjBnbbvMwyxxgY+YlSsv5N2aGP9vO8bBJJBCr5UaO8QPetgM8PERrkbzxxoyZ51wyjwTPwWbi/MJ3Psf4448yO3v7480HP3wkRovCAQY2CQY2EJOxgQj1QCDfwMD8AaJlFIyCUTAKRgEOAABJSTbNow8dpQAAAABJRU5ErkJggg==","orcid":"","institution":"Xi'an University of Technology","correspondingAuthor":true,"prefix":"","firstName":"Shiqiang","middleName":"","lastName":"Yang","suffix":""},{"id":359430300,"identity":"4ed7630c-4070-49ca-be4b-5fe319d9e209","order_by":2,"name":"Mingjing Li","email":"","orcid":"","institution":"Xi'an University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Mingjing","middleName":"","lastName":"Li","suffix":""},{"id":359430301,"identity":"8234cb50-279c-407c-8337-543b366fdbf6","order_by":3,"name":"Jiaxiang Wang","email":"","orcid":"","institution":"Xi'an University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Jiaxiang","middleName":"","lastName":"Wang","suffix":""}],"badges":[],"createdAt":"2024-08-18 10:07:25","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4932875/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4932875/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":65670058,"identity":"c658e384-20de-40b5-a2c9-7e7826ec285c","added_by":"auto","created_at":"2024-10-01 06:57:35","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1230877,"visible":true,"origin":"","legend":"","description":"","filename":"ResearchonanovelSLAMmethodfusionofvisionandLIDARinindoordynamicenvironment.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4932875/v1_covered_99b3f67a-33fa-4471-8149-055057afbf99.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Research on a novel SLAM method fusion of vision and LIDAR in indoor dynamic environment","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"SALM, dynamic target detection, LiDAR and vision fusion","lastPublishedDoi":"10.21203/rs.3.rs-4932875/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4932875/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eSimultaneous Localization and Mapping (SLAM) is one of the core technologies for mobile robots. With the increasing complexity of the environment, the existing 2D laser SLAM has poor quality due to the interference of dynamic objects. Meanwhile, the single-sensor laser SLAM has the problem of insufficient positioning accuracy in a single-structured environment. To address the above drawbacks, this paper studied a novel SLAM method using vision and laser fusion in an indoor dynamic environment based on the Cartographer algorithm.In more details, the dynamic target removal method based on LiDAR (light detection and ranging) detection used to solve the dynamic object interference.Moreover, a laser and vision fusion localization method was proposed for improving the limitation of a single LiDAR sensor. LiDAR to verify the effectiveness of the proposed method, experiments are conducted in the building scene and the long straight path scene respectively. The experimental results demonstrated that the proposed method effectively removed the interference brought by dynamic objects during the map building and the absolute trajectory root mean square error was reduced by 85.45% on average in the structural single environment. The experimental results further verified that the proposed SLAM method improved the quality of map building and positioning accuracy in complex environments.\u003c/p\u003e","manuscriptTitle":"Research on a novel SLAM method fusion of vision and LIDAR in indoor dynamic environment","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2024-10-01 06:49:27","doi":"10.21203/rs.3.rs-4932875/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"decision","content":"Revision requested","date":"2025-09-22T03:54:51+00:00","index":"","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-04-20T13:46:14+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-04-10T12:45:11+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"41883332287752021463338230012660869754","date":"2025-04-05T13:07:41+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"62869158289732114816730692065876624348","date":"2025-04-04T11:17:14+00:00","index":"hide","fulltext":""},{"type":"reviewersInvited","content":"","date":"2025-04-03T12:44:46+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2024-11-28T06:44:13+00:00","index":"","fulltext":""},{"type":"editorInvited","content":"","date":"2024-09-03T09:01:07+00:00","index":"","fulltext":""},{"type":"checksComplete","content":"","date":"2024-08-31T11:49:46+00:00","index":"","fulltext":""},{"type":"submitted","content":"Scientific Reports","date":"2024-08-18T10:06:03+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"6159ed90-de43-49df-b4a7-65a81fea4344","owner":[],"postedDate":"October 1st, 2024","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"under-review","subjectAreas":[{"id":38247172,"name":"Physical sciences/Engineering"},{"id":38247173,"name":"Physical sciences/Mathematics and computing"}],"tags":[],"updatedAt":"2025-10-09T04:08:14+00:00","versionOfRecord":[],"versionCreatedAt":"2024-10-01 06:49:27","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-4932875","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-4932875","identity":"rs-4932875","version":["v1"]},"buildId":"qtupq5eGEP_6zYnWcrvyt","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}