[{"data":1,"prerenderedAt":220},["ShallowReactive",2],{"publication-2025\u002Fa-benchmark-of-the-leading-lidar-imu-slam-algorithms-on-the-unnc-dataset":3,"publication-members":53},{"_path":4,"_dir":5,"_draft":6,"_partial":6,"_locale":7,"title":8,"description":9,"_hidden":6,"authors":10,"authors_orcid":17,"year":24,"doi":25,"openalex_id":26,"venue":19,"abstract_screenshot":19,"keywords":27,"body":33,"_type":46,"_id":47,"_source":48,"_file":49,"_stem":50,"_extension":51,"locale":52},"\u002Fpublications\u002F2025\u002Fa-benchmark-of-the-leading-lidar-imu-slam-algorithms-on-the-unnc-dataset","2025",false,"","A benchmark of the leading LiDAR-IMU SLAM algorithms on the UNNC dataset","LiDAR-inertial Simultaneous Localization and Mapping (SLAM) has emerged as a critical technology for autonomous systems, offering robust performance in diverse environments. However, the relative performance of state-of-the-art algorithms in real-world scenarios remains under-explored. This paper presents a comprehensive bench-marking study of three leading LiDAR-inertial SLAM algorithms using a novel dataset collected on the University of Nottingham Ningbo China (UNNC) campus. The dataset encompasses a wide range of challenging scenarios, providing a realistic testbed for SLAM performance evaluation. We conduct a thorough analysis of the algorithms’ performances. Our results reveal the performance variations among the algorithms. This study not only provides valuable insights for practitioners in choosing appropriate SLAM solutions but also highlights areas for future research and improvement in LiDAR-inertial SLAM technology.",[11,12,13,14,15,16],"Yang, Mengshen","Jia, Fuhua","Wang, Xiuqi","Sun, Xu","Rushworth, Adam","Yang, Guilin",[18,19,20,21,22,23],"0000-0002-8355-2227",null,"0000-0003-0328-6182","0000-0002-2340-7095","0000-0003-3803-7549","0000-0001-6144-3401",2025,"https:\u002F\u002Fdoi.org\u002F10.1117\u002F12.3088022","W4414108190",[28,29,30,31,32],"Testbed","Benchmark (surveying)","Simultaneous localization and mapping","Range (aeronautics)","Robustness (evolution)",{"type":34,"children":35,"toc":43},"root",[36],{"type":37,"tag":38,"props":39,"children":40},"element","p",{},[41],{"type":42,"value":9},"text",{"title":7,"searchDepth":44,"depth":44,"links":45},2,[],"markdown","content:publications:2025:a-benchmark-of-the-leading-lidar-imu-slam-algorithms-on-the-unnc-dataset.md","content","publications\u002F2025\u002Fa-benchmark-of-the-leading-lidar-imu-slam-algorithms-on-the-unnc-dataset.md","publications\u002F2025\u002Fa-benchmark-of-the-leading-lidar-imu-slam-algorithms-on-the-unnc-dataset","md","en",[54,63,69,79,86,94,106,115,122,129,136,143,150,161,170,181,190,198],{"_path":55,"title":56,"name":57,"role":58,"email":7,"image":59,"category":60,"order":61,"_id":62},"\u002Fmembers\u002Falumni\u002Frui-li","Research Assistant from Oct.,2023 to June.,2024","Rui Li","Research Assistant (Alumni)","\u002Fimages\u002Fdefault.jpg","alumni","17","content:members:alumni:rui-li.md",{"_path":64,"title":65,"name":66,"role":58,"email":7,"image":59,"category":60,"order":67,"_id":68},"\u002Fmembers\u002Falumni\u002Fyuhao-shi","Research Assistant from Feb.,2023 to Nov.,2024","Yuhao Shi","18","content:members:alumni:yuhao-shi.md",{"_path":70,"title":71,"name":72,"role":73,"email":74,"image":75,"category":76,"order":77,"_id":78},"\u002Fmembers\u002Fresearch-assistants\u002Fhang-xu","Research Assistant - B.Sc student in Computer Science","Hang Xu","Research Assistant","hang.xu@nottingham.edu.cn","assets\u002Fhangxu.jpg","research-assistants","14","content:members:research-assistants:hang-xu.md",{"_path":80,"title":73,"name":81,"role":73,"email":82,"image":83,"category":76,"order":84,"_id":85},"\u002Fmembers\u002Fresearch-assistants\u002Fxing-hou","Xing Hou","xing.hou@nottingham.edu.cn","assets\u002Fxinghou.png","15","content:members:research-assistants:xing-hou.md",{"_path":87,"title":88,"name":89,"role":90,"email":91,"image":59,"category":76,"order":92,"_id":93},"\u002Fmembers\u002Fresearch-assistants\u002Fxiuqi-wang","Intern Research Assistant - B.Sc student in Department of Electrical and Electronic Engineering","Xiuqi Wang","Intern Research Assistant","xiuqi.wang@nottingham.edu.cn","16","content:members:research-assistants:xiuqi-wang.md",{"_path":95,"title":96,"name":97,"role":98,"email":99,"scholar":100,"image":101,"category":102,"order":103,"orcid":104,"_id":105},"\u002Fmembers\u002Fresearch-students\u002Ffuhua-jia","PhD Student, Department of Mechanical, Materials and Manufacturing Engineering","Fuhua Jia","PhD Student","Fuhua.JIA@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=Zz2ccJ4AAAAJ&hl","assets\u002Fjiafuhua.png","research-students","09","0009-0002-6693-9371","content:members:research-students:fuhua-jia.md",{"_path":107,"title":108,"name":109,"role":110,"email":111,"image":112,"category":102,"order":113,"_id":114},"\u002Fmembers\u002Fresearch-students\u002Fhao-wang","Master by Research Student, Department of Mechanical, Materials and Manufacturing Engineering","Hao Wang","Master by Research Student","hao.wang@nottingham.edu.cn","assets\u002Fwanghao.png","12","content:members:research-students:hao-wang.md",{"_path":116,"title":96,"name":117,"role":98,"email":118,"image":119,"category":102,"order":120,"_id":121},"\u002Fmembers\u002Fresearch-students\u002Fjunlin-xiao","Junlin Xiao","junlin.xiao@nottingham.edu.cn","assets\u002Fjunlin-xiao.jpg","10","content:members:research-students:junlin-xiao.md",{"_path":123,"title":96,"name":124,"role":98,"email":125,"image":126,"category":102,"order":127,"_id":128},"\u002Fmembers\u002Fresearch-students\u002Fliming-li","Liming Li","Liming.Li@nottingham.edu.cn","assets\u002Fliming-li.jpg","11","content:members:research-students:liming-li.md",{"_path":130,"title":96,"name":131,"role":98,"email":132,"image":133,"category":102,"order":134,"_id":135},"\u002Fmembers\u002Fresearch-students\u002Fmengshen-yang","Mengshen Yang","Mengshen.Yang@nottingham.edu.cn","assets\u002Fyangmengshen.png","07","content:members:research-students:mengshen-yang.md",{"_path":137,"title":108,"name":138,"role":110,"email":139,"image":140,"category":102,"order":141,"_id":142},"\u002Fmembers\u002Fresearch-students\u002Fruoxu-xiao","Ruoxu Xiao","ruoxu.Xiao@nottingham.edu.cn","assets\u002Fruoxuxiao.jpg","13","content:members:research-students:ruoxu-xiao.md",{"_path":144,"title":96,"name":145,"role":98,"email":146,"image":147,"category":102,"order":148,"_id":149},"\u002Fmembers\u002Fresearch-students\u002Ftianyi-chen","Tianyi Chen","Tianyi.Chen@nottingham.edu.cn","assets\u002Fchentianyi.png","08","content:members:research-students:tianyi-chen.md",{"_path":151,"title":152,"name":153,"role":154,"email":155,"scholar":156,"image":157,"category":158,"order":159,"orcid":22,"_id":160},"\u002Fmembers\u002Fstaff\u002Fadam-rushworth","Associate Professor in Materials and Manufacturing, PGCHE","Dr Adam Rushworth","Deputy Director of Control System Lab","Adam.Rushworth@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=XvRnzQYAAAAJ&hl","assets\u002Fadam-rushworth.webp","staff","02","content:members:staff:adam-rushworth.md",{"_path":162,"title":163,"name":164,"role":163,"email":165,"scholar":166,"image":167,"category":158,"order":168,"_id":169},"\u002Fmembers\u002Fstaff\u002Fahmed-abdelwahed","Assistant Professor","Dr Ahmed Nasr Abdelwahed","Ahmed.Abdelwahed@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?hl=zh-CN&user=9cCVF5cAAAAJ","assets\u002Fahmed.webp","06","content:members:staff:ahmed-abdelwahed.md",{"_path":171,"title":172,"name":173,"role":174,"email":175,"scholar":176,"image":177,"category":158,"order":178,"orcid":179,"_id":180},"\u002Fmembers\u002Fstaff\u002Fchiew-foong-kwong","Head of Department of Electrical and Electronic Engineering","Dr Chiew Foong Kwong","Associate Professor, Head of Department","Chiew-Foong.Kwong@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=DiX0phAAAAAJ&hl=zh-CN&oi=ao","assets\u002Fcf.jpg","03","0000-0001-7857-511X","content:members:staff:chiew-foong-kwong.md",{"_path":182,"title":183,"name":184,"role":183,"email":185,"scholar":186,"image":187,"category":158,"order":188,"_id":189},"\u002Fmembers\u002Fstaff\u002Fdonglei-sun","Assistant Professor of Aerospace Aerodynamics","Dr Donglei Sun","Donglei.Sun@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?hl=zh-CN&user=C4EmdWMAAAAJ","assets\u002Fdonglei-sun.webp","05","content:members:staff:donglei-sun.md",{"_path":191,"title":183,"name":192,"role":183,"email":193,"scholar":194,"image":195,"category":158,"order":196,"_id":197},"\u002Fmembers\u002Fstaff\u002Frichard-adjei","Dr Richard Amankwa Adjei","Richard-Amankwa.Adjei@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=TshunUEAAAAJ&hl=zh-CN&oi=ao","assets\u002Frichard.webp","04","content:members:staff:richard-adjei.md",{"_path":199,"title":200,"name":201,"role":202,"email":203,"scholar":204,"orcid":205,"image":206,"category":158,"interests":207,"order":218,"_id":219},"\u002Fmembers\u002Fstaff\u002Fsalman-ijaz","Assistant Professor (Lecturer) in Control of Aerospace Systems","Dr Salman Ijaz","Director of Control System Lab","salman.ijaz@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=77HGe2UAAAAJ&hl","0000-0003-1483-4754","assets\u002Fsalman-ijaz.webp",[208,209,210,211,212,213,214,215,216,217],"Fault tolerant control of aircraft","Linear parameter varying control of nonlinear systems","Fractional order modeling and control of aircraft system","Control allocation Scheme","Integral sliding mode control","Robust control","Aircraft actuation system (dissimilar redundant actuation system)","Aircraft dynamics and control","Unmanned aerial vehicle system","More Electric Aircrafts","01","content:members:staff:salman-ijaz.md",1782613929847]