{"id":"https://openalex.org/W4412543862","doi":"https://doi.org/10.1017/s0263574725101860","title":"SEAC: a simultaneous exploration and coverage planner for online aerial 3-D modeling","display_name":"SEAC: a simultaneous exploration and coverage planner for online aerial 3-D modeling","publication_year":2025,"publication_date":"2025-07-22","ids":{"openalex":"https://openalex.org/W4412543862","doi":"https://doi.org/10.1017/s0263574725101860"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725101860","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725101860","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100622169","display_name":"Shiyong Zhang","orcid":"https://orcid.org/0000-0002-7255-9204"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyong Zhang","raw_affiliation_strings":["Nankai University"],"raw_orcid":"https://orcid.org/0000-0002-7255-9204","affiliations":[{"raw_affiliation_string":"Nankai University","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025392915","display_name":"Xuebo Zhang","orcid":"https://orcid.org/0000-0001-5308-6539"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuebo Zhang","raw_affiliation_strings":["Nankai University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090177069","display_name":"Qianli Dong","orcid":"https://orcid.org/0009-0002-3720-4501"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianli Dong","raw_affiliation_strings":["Nankai University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100460619","display_name":"Tianyi Li","orcid":"https://orcid.org/0000-0003-4994-1330"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyi Li","raw_affiliation_strings":["Nankai University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114223920","display_name":"Haobo Xi","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haobo Xi","raw_affiliation_strings":["Nankai University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420906","display_name":"Ziyu Wang","orcid":"https://orcid.org/0000-0001-6138-6566"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyu Wang","raw_affiliation_strings":["Nankai University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nankai University","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chaoqun Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["Shandong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076210154","display_name":"Jingjin Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingjin Yu","raw_affiliation_strings":["the State University of New Jersey"],"raw_orcid":"https://orcid.org/0000-0003-4112-2250","affiliations":[{"raw_affiliation_string":"the State University of New Jersey","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5025392915"],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21985678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"43","issue":"8","first_page":"2855","last_page":"2871"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.8680047392845154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5665450692176819},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5563470721244812},{"id":"https://openalex.org/keywords/aerial-imagery","display_name":"Aerial imagery","score":0.5301626324653625},{"id":"https://openalex.org/keywords/aerial-photos","display_name":"Aerial photos","score":0.5296720266342163},{"id":"https://openalex.org/keywords/aerial-survey","display_name":"Aerial survey","score":0.44069796800613403},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3884519636631012},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3516564965248108},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.21572306752204895}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8680047392845154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5665450692176819},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5563470721244812},{"id":"https://openalex.org/C2987819851","wikidata":"https://www.wikidata.org/wiki/Q191839","display_name":"Aerial imagery","level":2,"score":0.5301626324653625},{"id":"https://openalex.org/C3018193623","wikidata":"https://www.wikidata.org/wiki/Q191839","display_name":"Aerial photos","level":2,"score":0.5296720266342163},{"id":"https://openalex.org/C176262533","wikidata":"https://www.wikidata.org/wiki/Q4688034","display_name":"Aerial survey","level":2,"score":0.44069796800613403},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3884519636631012},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3516564965248108},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.21572306752204895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725101860","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725101860","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1484557735","https://openalex.org/W2078930695","https://openalex.org/W2109656638","https://openalex.org/W2113873983","https://openalex.org/W2143088799","https://openalex.org/W2465948386","https://openalex.org/W2552165419","https://openalex.org/W2607968634","https://openalex.org/W2769498435","https://openalex.org/W2811158378","https://openalex.org/W2910850106","https://openalex.org/W2963054668","https://openalex.org/W2965215408","https://openalex.org/W2967090880","https://openalex.org/W2973864946","https://openalex.org/W2977619045","https://openalex.org/W3004187019","https://openalex.org/W3014910365","https://openalex.org/W3025978319","https://openalex.org/W3100948105","https://openalex.org/W3102129812","https://openalex.org/W3125100443","https://openalex.org/W3125164440","https://openalex.org/W3134808094","https://openalex.org/W3176634028","https://openalex.org/W3206681541","https://openalex.org/W4206841499","https://openalex.org/W4226146005","https://openalex.org/W4285102299","https://openalex.org/W4379382242","https://openalex.org/W4381232948","https://openalex.org/W4383066136","https://openalex.org/W4383108733","https://openalex.org/W4386038368","https://openalex.org/W4390423670","https://openalex.org/W4393150507","https://openalex.org/W4405785561","https://openalex.org/W6810060715"],"related_works":["https://openalex.org/W2014456679","https://openalex.org/W2552247882","https://openalex.org/W4393495203","https://openalex.org/W21097156","https://openalex.org/W2991153303","https://openalex.org/W2487965249","https://openalex.org/W2389583573","https://openalex.org/W4403024694","https://openalex.org/W2169625860","https://openalex.org/W2144483618"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"paper,":[3],"we":[4],"propose":[5],"a":[6,47,92,104,151],"novel":[7],"online":[8],"informative":[9,79],"path":[10,80,126],"planner":[11,28,85,180],"for":[12,59,96,108],"3-D":[13,42],"modeling":[14],"of":[15,49,56,65,87],"unknown":[16],"structures":[17],"using":[18],"micro":[19],"aerial":[20],"vehicles.":[21],"Different":[22],"from":[23],"the":[24,53,57,62,66,70,77,110,116,124,132,139,146,155,172,182,188],"explore-then-exploit":[25],"strategy,":[26],"our":[27,83,179],"can":[29],"cope":[30],"with":[31,99],"exploration":[32,106,133,148],"and":[33,36,40,103,134,143,145,167,185],"coverage":[34,63,71,94,101,121,125,135,141],"simultaneously":[35],"thus":[37],"obtain":[38],"complete":[39],"high-quality":[41],"models.":[43],"We":[44,163],"first":[45],"devise":[46],"set":[48],"evaluation":[50],"metrics":[51],"considering":[52],"perception":[54],"constraints":[55],"sensor":[58],"efficiently":[60],"evaluating":[61],"quality":[64,72,102,142],"reconstructed":[67],"surfaces.":[68],"Then,":[69],"is":[73],"utilized":[74],"to":[75,112,158,170],"guide":[76],"subsequent":[78],"planning.":[81],"Specifically,":[82],"hierarchical":[84],"consists":[86],"two":[88],"planning":[89],"stages":[90],"\u2013":[91],"local":[93,120],"stage":[95,107,122,149],"inspecting":[97],"surfaces":[98],"low":[100],"global":[105,117,147,161],"transiting":[109],"robot":[111],"unexplored":[113],"regions":[114],"at":[115],"scale.":[118],"The":[119,175],"computes":[123],"that":[127,178],"takes":[128],"into":[129],"account":[130],"both":[131,165],"objectives":[136],"based":[137],"on":[138,195],"estimated":[140],"frontiers,":[144],"maintains":[150],"sparse":[152],"roadmap":[153],"in":[154],"explored":[156],"space":[157],"achieve":[159],"fast":[160],"exploration.":[162],"conduct":[164],"simulated":[166],"real-world":[168],"experiments":[169],"validate":[171],"proposed":[173],"method.":[174],"results":[176],"show":[177],"outperforms":[181],"state-of-the-art":[183],"algorithms":[184],"especially":[186],"decreases":[187],"reconstruction":[189],"error":[190],"(at":[191],"least":[192],"12.5%":[193],"lower":[194],"average).":[196]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}