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This study/paper aims to understand the public perceptions of AI through mass media discourse. In the past few years, significant progress has been made in the field of artificial intelligence (AI). The benefits of AI are obvious, but there is still huge uncertainty and controversy over the public perception of AI. How does the mass media conceptualize AI?

In this paper, the authors analyze the evolution of AI covered by five major news media outlets in the past 30 years from 7 dimensions: scientific subject, keyword, country, institution, people, topic and opinion polarity.

First of all, different subjects are competing for and dividing up the right to speak of AI, leading to the gradual fragmentation of the concept of AI. Second, reporting on AI often includes reference to commercial institutions and scientists, showing a successful integration of science and business. Moreover, the result of topic modeling shows that news media mainly defines AI from three perspectives: an imagination, a commercial product and a field of scientific research. Finally, negative reports have focused on various issues relating to AI ethics.

The results can help bridge various conversations surrounding AI and promote richer discussions, increase the participation of scientists, businesses, governments and the public and provide more perspectives on the functions, prospects and pitfalls of AI.

To address the issues of low localization and mapping accuracy, as well as map ghosting and drift, in indoor degraded environments using light detection and ranging-simultaneous localization and mapping (LiDAR SLAM), a real-time localization and mapping system integrating filtering and graph optimization theory is proposed. By incorporating filtering algorithms, the system effectively reduces localization errors and environmental noise. In addition, leveraging graph optimization theory, it optimizes the poses and positions throughout the SLAM process, further enhancing map accuracy and consistency. The purpose of this study resolves common problems such as map ghosting and drift, thereby achieving more precise real-time localization and mapping results.

The system consists of three main components: point cloud data preprocessing, tightly coupled inertial odometry based on filtering and backend pose graph optimization. First, point cloud data preprocessing uses the random sample consensus algorithm to segment the ground and extract ground model parameters, which are then used to construct ground constraint factors in backend optimization. Second, the frontend tightly coupled inertial odometry uses iterative error-state Kalman filtering, where the LiDAR odometry serves as observations and the inertial measurement unit preintegration results as predictions. By constructing a joint function, filtering fusion yields a more accurate LiDAR-inertial odometry. Finally, the backend incorporates graph optimization theory, introducing loop closure factors, ground constraint factors and odometry factors from frame-to-frame matching as constraints. This forms a factor graph that optimizes the map’s poses. The loop closure factor uses an improved scan-text-based loop closure detection algorithm for position recognition, reducing the rate of environmental misidentification.

A SLAM system integrating filtering and graph optimization technique has been proposed, demonstrating improvements of 35.3%, 37.6% and 40.8% in localization and mapping accuracy compared to ALOAM, lightweight and ground optimized lidar odometry and mapping and LiDAR inertial odometry via smoothing and mapping, respectively. The system exhibits enhanced robustness in challenging environments.

This study introduces a frontend laser-inertial odometry tightly coupled filtering method and a backend graph optimization method improved by loop closure detection. This approach demonstrates superior robustness in indoor localization and mapping accuracy.