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This study aims to achieve superior localization and mapping performance in point cloud degradation scenarios through the effective removal of dynamic obstacles. With the continuous development of various technologies for autonomous vehicles, the LIDAR-based Simultaneous localization and mapping (SLAM) system is becoming increasingly important. However, in SLAM systems, effectively addressing the challenges of point cloud degradation scenarios is essential for accurate localization and mapping, with dynamic obstacle removal being a key component.

This paper proposes a method that combines adaptive feature extraction and loop closure detection algorithms to address this challenge. In the SLAM system, the ground point cloud and non-ground point cloud are separated to reduce the impact of noise. And based on the cylindrical projection image of the point cloud, the intensity features are adaptively extracted, the degradation direction is determined by the degradation factor and the intensity features are matched with the map to correct the degraded pose. Moreover, through the difference in raster distribution of the point clouds before and after two frames in the loop process, the dynamic point clouds are identified and removed, and the map is updated.

Experimental results show that the method has good performance. The absolute displacement accuracy of the laser odometer is improved by 27.1%, the relative displacement accuracy is improved by 33.5% and the relative angle accuracy is improved by 23.8% after using the adaptive intensity feature extraction method. The position error is reduced by 30% after removing the dynamic target.

Compared with LiDAR odometry and mapping algorithm, the method has greater robustness and accuracy in mapping and localization.

Intellectual capital (IC) and venture capital (VC) play an important role in enterprise development. While the literature has investigated the relationship between IC and the profitability of companies, the relationship among IC, VC and enterprise value (EV) is still not well understood.

Drawing insights from the literature, we develop a few testable hypotheses about the relationships among IC, VC and EV. Using the panel data of companies listed in the Chinese stock market from 2009 to 2019, we employ fixed-effects regression models to test these hypotheses.

We find that IC has a significant positive effect on long-term EV. VC is found to have a positive direct effect on long-term EV but has a negative direct effect when its moderating effect with IC is considered. To explain this finding, we develop a simple economic model and provide an over-investment perspective.

We believe this paper can shed light on pro-venture investment policies in China, as well as provide indications for similar policies around the world.