Bag-of-words Research Articles

LB-LIOSAM: an improved mapping and localization method with loop detection

Purpose In large-scale environments, LIO-SAM (Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping) exhibits poor robustness due to the accumulation of errors caused by factors such as the prevalence of similar surroundings and the lack of features in certain open areas. Therefore, the purpose of this study is to optimize the loop detection module of LIO-SAM to reduce error accumulation and enhance mapping and localization performance. Design/methodology/approach Based on the LIO-SAM framework, the LinK3D (Linear Keypoints Representation for 3D LiDAR Point Cloud) feature extraction algorithm is integrated in the front end, while the BoW3D (Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM) loop detection algorithm is integrated in the back end. The features extracted by LinK3D serve as the range factors for the LiDAR, the BoW3D generates loop closure factors and these, along with inertial measurement unit (IMU) preintegration factors and global positioning system (GPS) factors, are added to the factor graph of LIO-SAM. This addition of constraints enhances the mapping and localization effects, optimizing the overall mapping and localization performance. Findings Based on the electrically controlled car, experiments were conducted in the experimental scenario proposed in this paper. Compared to LIO-SAM, the method presented in this paper significantly reduces cumulative errors. While ensuring real-time performance, it demonstrates superior mapping and localization effects. Originality/value This paper proposes and validates a method that integrates LinK3D, BoW3D and LIO-SAM, named LB-LIOSAM, which enhances the accuracy of feature extraction, optimizes the loop detection module of LIO-SAM and improves its mapping and localization performance in specific environmental scenarios.

Enhanced Tuberculosis Detection in Chest X-Rays Using Optimal Feature Selection with Hybrid Binary Particle Swarm Optimization (HBPSO) and a Dual Classifier Framework Combining LSTM and Spiking Neural Networks

Tuberculosis (TB) remains a significant global health challenge, particularly in developing countries, where rapid and accurate diagnosis is crucial for effective treatment. Recent advancements in machine learning and image processing have shown promise in enhancing the detection of TB from chest X-ray images. This research introduces a novel approach that integrates a hybrid feature selection method with a dual classifier framework to improve the accuracy of tuberculosis detection. Feature extraction is conducted using Multi-Scale Local Binary Patterns (MSLBP), Speeded-Up Robust Features (SURF) with Bag of Words (BoW), and Cartoon Texture Features, combining them into a comprehensive feature vector. The Hybrid Binary Particle Swarm Optimization (HBPSO) is employed for optimal feature selection, reducing redundancy and improving classification efficiency. Classification is performed using a dual framework involving a Long Short-Term Memory (LSTM) network and a Spiking Neural Network (SNN), which work in tandem to provide robust predictions. Majority voting is utilized to finalize predictions, ensuring high accuracy and adaptability across varying TB presentations. Extensive evaluation on publicly available datasets shows that this hybrid approach significantly outperforms existing methods, achieving a highest accuracy of 99.73%, along with superior precision, recall, and F1 scores.

EXPLOITING OPTIMAL SELF-ATTENTION DEEP LEARNING-BASED RECOGNITION OF TEXTUAL EMOTIONS FOR DISABLED PERSONS

A disability is a significant issue that has posed and continues to pose a challenge. Disability is a basis of frustration because it can be observed as a mental, constraint, cognitive, and physical handicap that inhibits the individual’s growth and involvement. Consequently, significant effort has been put into removing these kinds of restrictions. These initiatives address the trouble that disabled people encounter. People with disabilities often need to rely on others to meet their requirements. Machine learning (ML) is excelling in producing smart cities and offering a secure environment for disabled individuals. Emotional detection is an important research domain that can expose many appreciated inputs. Emotion is expressed differently through speech and facial expressions, gestures, and written text. Emotion detection in a text document is fundamentally a content-based classification task, utilizing models from deep learning (DL), complex systems and natural language processing (NLP). This paper presents an Optimal Self-Attention DL-based Recognition of Textual Emotions (OSADL-RTE) technique for Disabled Persons. The presented OSADL-RTE technique focuses on identifying distinct types of emotions in the textual data. As a primary preprocessing step, the OSADL-RTE technique comprises different phases to transform the input in a useful way. For word embedding, the bag of words (BoWs) approach is exploited. The OSADL-RTE technique derives self-attention long short-term memory (SA-LSTM) approach to identify emotions. Lastly, the arithmetic fractals optimization algorithm (AOA) approach correctly tunes the hyperparameter selection of the SA-LSTM approach. The experimental study of the OSADL-RTE approach occurs on the emotion database. The investigational outcome of the OSADL-RTE approach portrayed a superior accuracy outcome of 99.59% over existing methods.

Analysis of K-NN with the Integration of Bag of Words, TF-IDF, and N-Grams for Hate Speech Classification on Twitter

Social media has emerged as one of the primary communication channels in the modern world, but it has simultaneously become a platform where hate speech can spread easily. This study attempts to evaluate the performance of a hate speech classification model using the K-Nearest Neighbors (K-NN) algorithm along with various feature extraction techniques, specifically Bag of Words (BoW), Term Frequency-Inverse Document Frequency (TF-IDF), and N-Grams. The dataset used in this study consists of 13169 entries, which represent a diverse range of hate speech examples commonly encountered on social media platforms. In this experimental investigation, we assess the efficacy of the model using each feature extraction technique. The findings reveal that the K-NN model exhibits optimal performance when the k parameter is set to 3 (k=3). Under this configuration, the model achieves an accuracy of 86.88%, with a precision of 88.27%, a recall of 86.88%, and an F1-Score of 86.50%. These results show that the integration of TF-IDF feature extraction technique with K-NN algorithm produces superior performance in hate speech classification.

Lymph node metastasis prediction from in-situ lung squamous cell carcinoma histopathology images using deep learning.

Lung squamous cell carcinoma (LUSC), a subtype of non-small cell lung cancer, represents a significant portion of lung cancer cases with distinct histologic patterns impacting prognosis and treatment. The current pathological assessment methods face limitations such as inter-observer variability, necessitating more reliable techniques. This study seeks to predict lymph node metastasis in LUSC using deep learning models applied to histopathology images of primary tumors, offering a more accurate and objective method for diagnosis and prognosis.Whole slide images (WSIs) from the Outdo-LUSC and TCGA-LUSC cohorts were used to train and validate deep-learning models. Multi-instance learning was applied, with patch-level predictions aggregated into WSI-level outcomes. The study employed the ResNet-18 network, transfer learning, and rigorous data preprocessing. To represent WSI features, innovative techniques like patch likelihood histogram (PLH) and bag of words (BoW) were used, followed by training of machine learning classifiers, including the ExtraTrees algorithm.The diagnostic model for lymph node metastasis showed strong performance, particularly using the ExtraTrees algorithm, as demonstrated by receiver operating characteristic (ROC) curves and Grad-CAM visualizations. The signature generated by the ExtraTrees algorithm, named LN_ISLUSCH (lymph node status-related in-situ lung squamous cell carcinoma histopathology), achieved an area under the curve (AUC) of 0.941 (95% CI: 0.926-0.955) in the training set and 0.788 (95% CI: 0.748-0.827) in the test set. Kaplan–Meier analyses confirmed that the LN_ISLUSCH model was a significant prognostic factor (p = 0.02).This study underscores the potential of artificial intelligence in enhancing diagnostic precision in pathology. The LN_ISLUSCH model stands out as a promising tool for predicting lymph node metastasis and prognosis in LUSC. Future studies should focus on larger and more diverse cohorts and explore the integration of additional omics data to further refine predictive accuracy and clinical utility.

Does Government Environmental Concern Affect Enterprise Sustainable Development? Evidence from China

As the executor and agent of China’s environmental policy, local governments’ environmental concern reflects local governments’ determination in environmental governance. To figure out how the strengthening environmental concerns affect enterprises’ long-term activities, this study focuses on pharmaceutical manufacturing enterprises due to the enormous and complex composition of emissions. We apply bag of words to summarize relevant environmental words from the annual work reports in local governments to measure environmental concern. The empirical results of the OLS method reveal that the increasing environmental concerns of local governments did decrease the growth rate of chemical oxygen demand (COD) emission authentically. At the same time, it will inhibit the research and experimental development (R&D) activity intensity, but promote production efficiency of pharmaceutical manufacturing enterprises. After that, we discuss the heterogeneity of enterprise ownership, corporate social responsibility and regional regulatory strength of enterprises. Overall, we conclude that environmental concern did reduce COD emission and promote production efficiency, but it also has negative spillover effects. The novel contribution of this paper is that it enriches the trade-off between strengthening environmental compliance costs and long-term production and innovation activities. These results indicate that pharmaceutical manufacturing enterprises prioritize optimizing existing production processes instead of adopting efficient technology when complying with stricter environmental regulation. The reduction of R&D activities may pose risks to the long-term sustainable development of enterprises.

Exploring Word-Level Representations in Modern Natural Language Processing

Abstract: Natural Language Processing (NLP) is a dynamic and rapidly advancing field at the intersection of artificial intelligence and linguistics, focused on enabling computers to understand, process, and generate human language. Recent advancements intransformer-based models have significantly improved NLP capabilities, enablingmachines to understand and generate human language more effectively. This paper provides a comprehensive overview of NLP, tracing its historical development and recent trends. The discussion includes the different phases of NLP, from text pre- processing and tokenization to syntactic and semantic analysis, along with pragmatic considerations. Text normalization techniques, such as stemming, lemmatization, and removing stopwords, are explored to emphasize their importance in preparing raw text for analysis. Additionally, this paper presents a comparative analysis of popular word-level representation techniques used in NLP, including One-Hot Encoding, Bag of Words (BoW), and Term Frequency-Inverse Document Frequency (TF-IDF).

FDN-SA: Fuzzy deep neural-stacked autoencoder-based phishing attack detection in social engineering

Phishing attacks have emerged as a major social engineering threat that affects businesses, governments, and general internet users. This work proposes a social engineering phishing detection technique based on Deep Learning (DL). Initially, website data is taken from the dataset. Then, the features of Natural Language Processing (NLP) like bag of words, n-gram, hashtags, sentence length, Term Frequency- Inverse Document Frequency of records (TF-IDF), and all caps are extracted and then web feature extraction is carried out. Later, the feature fusion is done using the Neyman similarity with Deep Belief Network (DBN). Afterwards, oversampling is used for data augmentation to enhance the number of training samples. Lastly, the detection of phishing attacks is performed by employing the proposed Fuzzy Deep Neural-Stacked Autoencoder (FDN-SA). Here, the proposed FDN-SA is developed by combining a Deep Neural Network (DNN), and Deep Stacked Autoencoder (DSA). Further, the investigation of FDN-SA is accomplished based on the accuracy, True Positive Rate (TPR), and True Negative Rate (TNR) and is observed to compute values of 0.920, 0.925, and 0.921, respectively.

Analysis of feature extraction techniques for sentiment analysis of tweets

Over the past few years, sentiment analysis has moved from social networking services like LinkedIn, Facebook, YouTube, Twitter, and online product-based reviews to determine public opinion or emotion using social media textual contents. The methodology includes data selection, text pre-processing, feature extraction, classification model, and result analysis. Text pre-processing is an important stage in structuring data for improved performance of our methodology. The feature extraction technique (FET) is a crucial step in sentiment analysis as it is difficult to obtain effective and useful information from highly unstructured social media data. A number of feature extraction techniques are available to extract useful features. In this work, popular feature extraction techniques including bag of words (BOW), term frequency and inverse document frequency (TF-IDF), and Word2vec are compared and analyzed for the sentiment analysis of social media contents. A method is proposed for processing text data from social media networks for sentiment analysis that uses support vector machine as a classifier. The experiments are carried on three datasets of different context namely US Airline, Movie Review, and News from Twitter. The results show that TF-IDF consistently outperformed other techniques with best accuracy of 82.33%, 92.31%, and 99.10% for Airline, Movie Review, and News datasets respectively. It is also found that the proposed method performed better than some existing methods.

Improved bidirectional attention flow (BIDAF) model for Arabic machine reading comprehension

Abstract Machine reading comprehension (MRC) refers to the process of instructing machines to comprehend and respond to inquiries based on a provided text. There are two primary methodologies for achieving this: extracting answers directly from the text or predicting them. Extracting answers involves anticipating the specific segment of text containing the answer, pinpointed by its starting and ending indices within the paragraph. Despite the increasing interest in MRC, exploration within the framework of the Arabic language faces limitations due to various challenges. A significant impediment arises from the inadequacy of resources available for Arabic textual content, which impedes the development of effective models. Furthermore, the inherent intricacies of Arabic, manifesting in its diverse linguistic forms including classical, modern standard, and colloquial, present distinctive hurdles for tasks involving language comprehension. This paper proposes an enhanced version of the bidirectional attention flow (BIDAF) model for Arabic MRC, constructed upon the Arabic Span-Extraction-based Reading Comprehension Benchmark (ASER). ASER comprises 10,000 sets of questions, answers, and passages, partitioned into a training set constituting 90% of the data and a testing set making up the remaining 10%. By introducing a new input feature based on parts-of-speech (POS) word embeddings and replacing Bidirectional Long Short-Term Memory (bi-LSTM) with bidirectional gated recurrent unit, significant improvements were observed. Eight different POS word embeddings were generated using both Continuous Bag of Words (CBOW) and Skip-gram methods, with varying dimensionalities. Evaluation metrics, including exact match (EM) and F1-measure, were utilized to assess model performance, with emphasis on the latter for its accuracy. The proposed enhanced BIDAF model achieved a remarkable accuracy of 75.22% on the ASER dataset, demonstrating its efficacy in Arabic MRC tasks. Additionally, rigorous statistical evaluation using a two-tailed paired samples t-test further validated the findings, highlighting the significance of the proposed enhancements in advancing Arabic language processing capabilities.

Automatic categorization of medical documents in Afaan Oromo using ensemble machine learning techniques

Automatic medical document classification using machine learning techniques can enhance the productivity of healthcare services by reducing processing time and cost. This work proposes an ensemble learning approach to develop a model that classifies electronic medical documents in Afaan Oromo. The main tasks in this work are preparing the corpus, pre-processing, training the models, and the classification process. We used the term frequency-inverse document frequency (TF-IDF) and bag of words (BOW) feature extraction methods. An ensemble technique in this work is that it creates multiple individual classifier predictions from naïve Bayes, random forest, SVM, and logistic regression and then combines them to advance a reliable and more accurate classifier. Evaluation measures were employed using accuracy, F1-score, recall, and precision for performance comparison. The efficiency of the proposed method is compared with the two existing boosting approaches, namely gradient boosting and adaboost. The experimental result shows the efficiency of BOW feature extraction over TF-IDF in this work on our dataset. These results also illustrated the effectiveness of the proposed model by scoring 94.81% accuracy and 94.84% F1-score. This work significantly contributes to the technological enhancement of service delivery, managing documents through classification methods, and advancing the data processing systems in healthcare sectors.

Towards AI-Generated Essay Classification Using Numerical Text Representation

The detection of essays written by AI compared to those authored by students is increasingly becoming a significant issue in educational settings. This research examines various numerical text representation techniques to improve the classification of these essays. Utilizing a diverse dataset, we undertook several preprocessing steps, including data cleaning, tokenization, and lemmatization. Our system analyzes different text representation methods such as Bag of Words, TF-IDF, and fastText embeddings in conjunction with multiple classifiers. Our experiments showed that TF-IDF weights paired with logistic regression reached the highest accuracy of 99.82%. Methods like Bag of Words, TF-IDF, and fastText embeddings achieved accuracies exceeding 96.50% across all tested classifiers. Sentence embeddings, including MiniLM and distilBERT, yielded accuracies from 93.78% to 96.63%, indicating room for further refinement. Conversely, pre-trained fastText embeddings showed reduced performance, with a lowest accuracy of 89.88% in logistic regression. Remarkably, the XGBoost classifier delivered the highest minimum accuracy of 96.24%. Specificity and precision were above 99% for most methods, showcasing high capability in differentiating between student-created and AI-generated texts. This study underscores the vital role of choosing dataset-specific text representations to boost classification accuracy.

ENHANCING NATURAL LANGUAGE PROCESSING USING WALRUS OPTIMIZER WITH SELF-ATTENTION DEEP LEARNING MODEL IN APPLIED LINGUISTICS

Sentiment analysis (SA) is the popular natural language processing (NLP) problem utilized for analyzing texts, including uploaded reviews and user posts on e-commerce portals, forums, and social media platforms, regarding their opinions about the event or person, product, and service. The SA task comprises analyzing text to determine whether the sentiment expressed is negative, positive, or neutral, aiming for precise subjective data analysis. The deep learning (DL) technique enables various architectures to model SA tasks and has surpassed other machine learning (ML) techniques as the first method to perform SA tasks. Recent advancements in the DL model depart from the growing dominance of transformer language algorithms and convolutional neural network (CNN) and recurrent neural network (RNN) models. Utilizing pre-trained transformer language models to transfer knowledge to downstream tasks has emerged as a cutting-edge model in NLP. Therefore, the study designs a fractal walrus optimizer with self-attention DL-based SA in applied linguistics (WOSADL-SAAL) method. The WOSADL-SAAL method aims to recognize and classify the presence of sentiments in social media content. In the WOSADL-SAAL technique, data preprocessing is initially performed to transform the input dataset into a meaningful format. In addition, the WOSADL-SAAL technique uses the bag of words (BoW) model for extracting features. The self-attention bidirectional long short-term memory (SA-BiLSTM) network is applied to classify sentiment. The walrus optimizer (WO) model performs the hyperparameter tuning model to boost the detection outcomes of the SA-BiLSTM network. The performance evaluation of the WOSADL-SAAL method takes place under the benchmark SA dataset. The experimental analysis of the WOSADL-SAAL method exhibited a superior accuracy value of 99.07% and 99.24% under TUSA and IMDB datasets over existing approaches.

Evaluating the Performance of Five Classifiers for Twitter Sentiment Analysis Using Bag of Words

Abstract: Twitter is a social medium for millions of people to express their opinions on different subjects. Natural Language Processing is widely used for sentiment analysis. This Research paper compares five machine learning classifier performances using a bag of words technique. A Kaggle Dataset is used. The Naïve Bayes classifier gave better predictions having an accuracy achieved to 91.59 percent for the four type sentiments from the text, Negative, Positive, Neutral, and Irrelevant. The classifiers used in this research are Logistic Regression, XGBoost, Naïve Bayes, Random Forest, and Support Vector Machine. The bag of words with having n-grams to four words and retaining all the stop words gave better accuracy than having n-grams to one word and removing all stop words. For further improvement in results Transformer based models like Bidirectional Encoder Representations from Transformers (BERT) and Generative Pre-trained Transformers (GPT) must be taken into account. Deep learning models are more likely to give better accuracy than traditional machine learning models, and they use word embeddings rather than a bag of words technique to understand semantics better.

Security Assessment Framework for DDOS Attack Detection via Deep Learning

Internet of Things (IoT) is a broad network of actual, physical objects that can exchange data and communicate with other devices and systems over the Internet. Due to the scalability of the internet, the number of IoT users is increasing, and therefore it is vital to ensure the security of user info. Attacks such as DDoS (Distributed Denial of Service) and MitM (Man-in-the-Middle) can seriously interrupt operations and threaten the confidentiality and integrity of sensitive data. In this paper, a novel Iot based Security Assessment for intrusion using Deep Learning (ISAI-DL) technique has been proposed to identify IoT device vulnerabilities such as DDoS and MitM attacks. Initially, the features are extracted from the API documents using Bag of Words (BoW) and Term Frequency-Inverse Document Frequency (TF-IDF) techniques. In proposed ISAI-DL technique, it triggers or activates the vulnerabilities deep within target devices by sending API documents. The vulnerability is detected via the GloVe-CNN-BiLSTM Model; if the attack occurs in an IoT device, the output is classified as either DDoS, MitM, or normal. Evaluation metrics such as accuracy, recall, precision, time efficiency, F1 score, false alarm rate, and detection rate have been used to measure how effective the proposed ISAI-DL technique is. Based on a comparative investigation, the detection rate of the proposed ISAI-DL technique is 17.23%, 18.53%, and 3.24% greater than that of the existing P2ADF, HDA-IDS, and BT-TPF techniques respectively.

Sentiment Analysis of Political Parties on social media: A Machine Learning and Lexicon-Based Approach

Social media platforms like Facebook, Twitter, Instagram, and YouTube have become central to communication and entertainment, with users sharing opinions on various topics. These opinions, often categorized as positive, negative, or neutral sentiments, provide valuable data for sentiment analysis. Our research analyzed political YouTube comments related to India’s Bhartiya Janata Party (BJP) and Indian National Congress (INC) using a combination of the AFINN lexicon and machine learning techniques. We applied feature representation methods such as Bag of Words (BoW) and Term Frequency-Inverse Document Frequency (TF-IDF), alongside five machine learning algorithms: Multinomial Naïve Bayes, Logistic Regression, Random Forest, Support Vector Machine (SVM), and K-nearest neighbor (K-NN). We aimed to determine the most efficient sentiment analysis approach by comparing the performance of these models using standard evaluation metrics. For the BJP dataset, Logistic Regression performed best with BoW, while SVM was most effective with TF-IDF. Similarly, for the INC dataset, Random Forest excelled with BoW, and SVM outperformed others with TF-IDF. The AFINN lexicon showed poor performance across both datasets, and K-NN consistently achieved lower accuracy. Our findings suggest that SVM and Random Forest are more suitable for political sentiment analysis.

Tourism Destination Recommendation based on bag of Visual Word Combined with SVM Classification

Tourism Destination Recommendation based on bag of Visual Word Combined with SVM Classification

A Framework for Enhancing Social Media Misinformation Detection with Topical-Tactics

Recent years have seen advancements in machine learning methods for the detection of misinformation on social media. Yet, these methods still often ignore or improperly incorporate key information on the topical-tactics used by misinformation agents. To what extent does this affect the (non)detection of misinformation? We investigate how supervised machine learning approaches can be enhanced to better detect misinformation on social media. Our aim in this regard is to enhance the abilities of academics and practitioners to understand, anticipate, and preempt the sources and impacts of misinformation on the web. To do so, this article leverages a large sample of verified Russian state-based misinformation tweets and non-misinformation tweets from Twitter. It first assesses standard supervised approaches for detecting Twitter-based misinformation both quantitatively (with respect to classification) and qualitatively (with respect to topical-tactics of Russian misinformation). It then presents a novel framework for integrating topical-tactics of misinformation into standard “bag of words”-oriented classification approaches in a manner that avoids data leakage and related measurement challenges. We find that doing so substantially improves the out-of-sample detection of Russian state-based misinformation tweets.

Pelabelan Sentimen Berbasis Semi-Supervised Learning menggunakan Algoritma LSTM dan GRU

In the sentiment analysis research process, there are problems when still using manual labeling methods by humans (expert annotation), which are related to subjectivity, long time, and expensive costs. Another way is to use computer assistance (machine annotator). However, the use of machine annotators also has the research problem of not being able to detect sarcastic sentences. Thus, the researcher proposed a sentiment labeling method using Semi-Supervised Learning. Semi-supervised learning is a labeling method that combines human labeling techniques (expert annotation) and machine labeling (machine annotation). This research uses machine annotators in the form of Deep Learning algorithms, namely the Long Short-Term Memory (LSTM) and Gated Recurrent Unit (GRU) algorithms. The word weighting method used in this research is Word2Vec Continuous Bag of Word (CBoW). The results showed that the GRU algorithm tends to have a better accuracy rate than the LSTM algorithm. The average accuracy of the training results of the LSTM and GRU algorithm models is 0.904 and 0.913. In contrast, the average accuracy of labeling by LSTM and GRU is 0.569 and 0.592, respectively.

Multi-Robot Collaborative Mapping with Integrated Point-Line Features for Visual SLAM.

Simultaneous Localization and Mapping (SLAM) enables mobile robots to autonomously perform localization and mapping tasks in unknown environments. Despite significant progress achieved by visual SLAM systems in ideal conditions, relying solely on a single robot and point features for mapping in large-scale indoor environments with weak-texture structures can affect mapping efficiency and accuracy. Therefore, this paper proposes a multi-robot collaborative mapping method based on point-line fusion to address this issue. This method is designed for indoor environments with weak-texture structures for localization and mapping. The feature-extraction algorithm, which combines point and line features, supplements the existing environment point feature-extraction method by introducing a line feature-extraction step. This integration ensures the accuracy of visual odometry estimation in scenes with pronounced weak-texture structure features. For relatively large indoor scenes, a scene-recognition-based map-fusion method is proposed in this paper to enhance mapping efficiency. This method relies on visual bag of words to determine overlapping areas in the scene, while also proposing a keyframe-extraction method based on photogrammetry to improve the algorithm's robustness. By combining the Perspective-3-Point (P3P) algorithm and Bundle Adjustment (BA) algorithm, the relative pose-transformation relationships of multi-robots in overlapping scenes are resolved, and map fusion is performed based on these relative pose relationships. We evaluated our algorithm on public datasets and a mobile robot platform. The experimental results demonstrate that the proposed algorithm exhibits higher robustness and mapping accuracy. It shows significant effectiveness in handling mapping in scenarios with weak texture and structure, as well as in small-scale map fusion.