{"id":"https://openalex.org/W1972249796","doi":"https://doi.org/10.1007/s10514-014-9387-y","title":"RMAP: a rectangular cuboid approximation framework for 3D environment mapping","display_name":"RMAP: a rectangular cuboid approximation framework for 3D environment mapping","publication_year":2014,"publication_date":"2014-02-27","ids":{"openalex":"https://openalex.org/W1972249796","doi":"https://doi.org/10.1007/s10514-014-9387-y","mag":"1972249796"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-014-9387-y","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-014-9387-y","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-014-9387-y.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10514-014-9387-y.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077214249","display_name":"Sheraz Khan","orcid":"https://orcid.org/0000-0002-1057-0475"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sheraz Khan","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067931269","display_name":"\u0391\u03b8\u03b1\u03bd\u03ac\u03c3\u03b9\u03bf\u03c2 \u0394\u03bf\u03bc\u03ad\u03c4\u03b9\u03bf\u03c2","orcid":"https://orcid.org/0000-0002-6897-830X"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Athanasios Dometios","raw_affiliation_strings":["Division of Signals, Control and Robotics, School of Electrical and Computer Engineering, National Technical University of Athens (NTUA), Athens, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Signals, Control and Robotics, School of Electrical and Computer Engineering, National Technical University of Athens (NTUA), Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004496818","display_name":"Chris Verginis","orcid":null},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Chris Verginis","raw_affiliation_strings":["Division of Signals, Control and Robotics, School of Electrical and Computer Engineering, National Technical University of Athens (NTUA), Athens, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Signals, Control and Robotics, School of Electrical and Computer Engineering, National Technical University of Athens (NTUA), Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075518884","display_name":"Costas S. Tzafestas","orcid":"https://orcid.org/0000-0003-1545-9191"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Costas Tzafestas","raw_affiliation_strings":["Division of Signals, Control and Robotics, School of Electrical and Computer Engineering, National Technical University of Athens (NTUA), Athens, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Signals, Control and Robotics, School of Electrical and Computer Engineering, National Technical University of Athens (NTUA), Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Wollherr","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081223790","display_name":"Martin Buss","orcid":"https://orcid.org/0000-0002-1776-2752"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Buss","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5077214249"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":{"value":3390,"currency":"USD","value_usd":3390},"apc_paid":{"value":3390,"currency":"USD","value_usd":3390},"fwci":35.9108,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.99701403,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"37","issue":"3","first_page":"261","last_page":"277"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cuboid","display_name":"Cuboid","score":0.8402721285820007},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7675026655197144},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.715086817741394},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.6928915977478027},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6885764002799988},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5158978700637817},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.49157509207725525},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.46893051266670227},{"id":"https://openalex.org/keywords/computational-science","display_name":"Computational science","score":0.41593292355537415},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.4103914201259613},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.37039151787757874},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3402074873447418},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2440340220928192},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.22642749547958374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2256506383419037},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14167776703834534},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10295197367668152},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08423525094985962}],"concepts":[{"id":"https://openalex.org/C203527163","wikidata":"https://www.wikidata.org/wiki/Q262959","display_name":"Cuboid","level":2,"score":0.8402721285820007},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7675026655197144},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.715086817741394},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.6928915977478027},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6885764002799988},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5158978700637817},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.49157509207725525},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46893051266670227},{"id":"https://openalex.org/C459310","wikidata":"https://www.wikidata.org/wiki/Q117801","display_name":"Computational science","level":1,"score":0.41593292355537415},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.4103914201259613},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.37039151787757874},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3402074873447418},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2440340220928192},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.22642749547958374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2256506383419037},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14167776703834534},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10295197367668152},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08423525094985962},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s10514-014-9387-y","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-014-9387-y","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-014-9387-y.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:DiVA.org:kth-180293","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-180293","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1233613","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1233613","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s10514-014-9387-y","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-014-9387-y","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-014-9387-y.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.41999998688697815}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320323383","display_name":"Technische Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/02kkvpp62"},{"id":"https://openalex.org/F4320336290","display_name":"Institute for Advanced Study, Technische Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/05fj6by70"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1972249796.pdf","grobid_xml":"https://content.openalex.org/works/W1972249796.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W122066831","https://openalex.org/W1567242735","https://openalex.org/W1633222579","https://openalex.org/W1991752086","https://openalex.org/W1999050017","https://openalex.org/W2011654214","https://openalex.org/W2030021468","https://openalex.org/W2033885812","https://openalex.org/W2068303195","https://openalex.org/W2118269922","https://openalex.org/W2118691294","https://openalex.org/W2119404509","https://openalex.org/W2122736190","https://openalex.org/W2131991591","https://openalex.org/W2133844819","https://openalex.org/W2143220699","https://openalex.org/W2154418813","https://openalex.org/W2623660146","https://openalex.org/W3150997492","https://openalex.org/W6683151470"],"related_works":["https://openalex.org/W2001674673","https://openalex.org/W2468359596","https://openalex.org/W5037887","https://openalex.org/W2148412784","https://openalex.org/W2245943671","https://openalex.org/W2791179810","https://openalex.org/W3211298013","https://openalex.org/W1538887534","https://openalex.org/W1972249796","https://openalex.org/W2126824614"],"abstract_inverted_index":{"This":[0,35],"paper":[1,36],"presents":[2],"a":[3,78],"rectangular":[4,32],"cuboid":[5],"approximation":[6,54,130,162],"framework":[7,178],"(RMAP)":[8],"for":[9,25,150,179],"3D":[10,26,56,90,103,180],"mapping.":[11,181],"The":[12,63,82,138],"goal":[13],"of":[14,41,55,77,80,87,110,156,176],"RMAP":[15,43,64,158],"is":[16,67,75,85,136],"to":[17,115],"provide":[18],"computational":[19,166],"and":[20,50,118,161,167],"memory":[21,98,148,168],"efficient":[22,149],"environment":[23],"representations":[24,91,122],"robotic":[27],"mapping":[28],"using":[29,132],"axis":[30,151],"aligned":[31,152],"cuboids":[33],"(RC).":[34],"focuses":[37],"on":[38,59,69,124,165,170],"two":[39],"aspects":[40],"the":[42,70,97,157,174],"framework:":[44],"(i)":[45],"An":[46],"occupancy":[47,65,104,159],"grid":[48,66,160],"approach":[49,84,131,140,163],"(ii)":[51],"A":[52],"RC":[53,144],"environments":[57],"based":[58,68,123,164],"point":[60,116,127,133],"cloud":[61,117,134],"density.":[62],"Rtree":[71],"data":[72],"structure":[73],"which":[74],"composed":[76],"hierarchy":[79],"RC.":[81],"proposed":[83,139],"capable":[86],"generating":[88],"probabilistic":[89],"with":[92],"multiresolution":[93],"capabilities.":[94],"It":[95],"reduces":[96],"complexity":[99,169],"in":[100],"large":[101],"scale":[102],"grids":[105],"by":[106],"avoiding":[107],"explicit":[108],"modelling":[109],"free":[111],"space.":[112],"In":[113],"contrast":[114],"fixed":[119],"resolution":[120],"cell":[121],"beam":[125],"end":[126],"observations,":[128],"an":[129],"density":[135],"presented.":[137],"generates":[141],"variable":[142],"sized":[143],"approximations":[145],"that":[146],"are":[147],"surfaces":[153],".":[154],"Evaluation":[155],"different":[171],"datasets":[172],"shows":[173],"effectiveness":[175],"this":[177]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}