{"id":"https://openalex.org/W4413671004","doi":"https://doi.org/10.1080/01691864.2025.2544167","title":"Efficient construction of 3D-Gaussian clusters and elevation maps for autonomous mobile robot navigation in non-planar environments","display_name":"Efficient construction of 3D-Gaussian clusters and elevation maps for autonomous mobile robot navigation in non-planar environments","publication_year":2025,"publication_date":"2025-08-18","ids":{"openalex":"https://openalex.org/W4413671004","doi":"https://doi.org/10.1080/01691864.2025.2544167"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2025.2544167","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2544167","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2025.2544167?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2025.2544167?needAccess=true","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057926108","display_name":"Junya Shiraishi","orcid":"https://orcid.org/0000-0003-0268-9297"},"institutions":[{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Junya Shiraishi","raw_affiliation_strings":["Sony Semiconductor Solutions Corporation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Semiconductor Solutions Corporation","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119436411","display_name":"Yuji Nagamatsu","orcid":null},"institutions":[{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yuji Nagamatsu","raw_affiliation_strings":["Sony Semiconductor Solutions Corporation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Semiconductor Solutions Corporation","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sarah Ichikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Sarah Ichikawa","raw_affiliation_strings":["Sony Semiconductor Solutions Corporation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Semiconductor Solutions Corporation","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001932691","display_name":"Tomoya Tanaka","orcid":"https://orcid.org/0000-0002-3513-3386"},"institutions":[{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Tomoya Tanaka","raw_affiliation_strings":["Sony Semiconductor Solutions Corporation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Semiconductor Solutions Corporation","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119436412","display_name":"Ryosuke Idenuma","orcid":null},"institutions":[{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ryosuke Idenuma","raw_affiliation_strings":["Sony Semiconductor Solutions Corporation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Semiconductor Solutions Corporation","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023376699","display_name":"Masaru Usui","orcid":"https://orcid.org/0000-0003-1624-1469"},"institutions":[{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Masaru Usui","raw_affiliation_strings":["Sony Semiconductor Solutions Corporation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Semiconductor Solutions Corporation","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066954110","display_name":"Dai Kataoka","orcid":null},"institutions":[{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Daisuke Kataoka","raw_affiliation_strings":["Sony Semiconductor Solutions Corporation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Semiconductor Solutions Corporation","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015283639","display_name":"Masaki Wakabayashi","orcid":null},"institutions":[{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Masaki Wakabayashi","raw_affiliation_strings":["Sony Semiconductor Solutions Corporation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Semiconductor Solutions Corporation","institution_ids":["https://openalex.org/I1304132090"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5057926108"],"corresponding_institution_ids":["https://openalex.org/I1304132090"],"apc_list":null,"apc_paid":null,"fwci":4.2808,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.9435294,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"39","issue":"16","first_page":"1026","last_page":"1040"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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/T11106","display_name":"Data Management and Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6122397184371948},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.5898501873016357},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5739986300468445},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5602409243583679},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5229192972183228},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5103825926780701},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5091575980186462},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.47053322196006775},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44284945726394653},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.2537640333175659},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.19611090421676636},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1548180878162384},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12183678150177002},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1204257607460022}],"concepts":[{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6122397184371948},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.5898501873016357},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5739986300468445},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5602409243583679},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5229192972183228},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5103825926780701},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5091575980186462},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.47053322196006775},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44284945726394653},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2537640333175659},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.19611090421676636},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1548180878162384},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12183678150177002},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1204257607460022},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2025.2544167","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2544167","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2025.2544167?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1080/01691864.2025.2544167","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2544167","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2025.2544167?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W2012875423","https://openalex.org/W2049451098","https://openalex.org/W2058535340","https://openalex.org/W2074954154","https://openalex.org/W2099893201","https://openalex.org/W2133844819","https://openalex.org/W2139710904","https://openalex.org/W2158037930","https://openalex.org/W2165558283","https://openalex.org/W2250172176","https://openalex.org/W2429678572","https://openalex.org/W2569527682","https://openalex.org/W2607968634","https://openalex.org/W2803073811","https://openalex.org/W2809054577","https://openalex.org/W2919066541","https://openalex.org/W2963439316","https://openalex.org/W2966782227","https://openalex.org/W2968585821","https://openalex.org/W3009542919","https://openalex.org/W3020259881","https://openalex.org/W3040281474","https://openalex.org/W3047616003","https://openalex.org/W3102129812","https://openalex.org/W3105740176","https://openalex.org/W3119109959","https://openalex.org/W3200680488","https://openalex.org/W3206395965","https://openalex.org/W3207223514","https://openalex.org/W4285102599","https://openalex.org/W4312749288","https://openalex.org/W4312870968","https://openalex.org/W4313396671","https://openalex.org/W4372046852","https://openalex.org/W4385318467","https://openalex.org/W4390480635","https://openalex.org/W4402698355","https://openalex.org/W4402727865"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W3081536868","https://openalex.org/W2523265608","https://openalex.org/W2122735287","https://openalex.org/W2324656256"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-19T21:40:30.786675","created_date":"2025-10-10T00:00:00"}