{"id":"https://openalex.org/W2083112818","doi":"https://doi.org/10.1108/01439911211249751","title":"Real time 3D localization and mapping for USAR robotic application","display_name":"Real time 3D localization and mapping for USAR robotic application","publication_year":2012,"publication_date":"2012-08-17","ids":{"openalex":"https://openalex.org/W2083112818","doi":"https://doi.org/10.1108/01439911211249751","mag":"2083112818"},"language":"en","primary_location":{"id":"doi:10.1108/01439911211249751","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911211249751","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5055852189","display_name":"Janusz B\u0119dkowski","orcid":"https://orcid.org/0000-0003-2630-1947"},"institutions":[{"id":"https://openalex.org/I4210107376","display_name":"Institute of Mathematical Machines","ror":"https://ror.org/01x675h84","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210107376"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Janusz B\u0119dkowski","raw_affiliation_strings":["Institute of Mathematical Machines, Warsaw, Poland and Institute of Automation and Robotics, Warsaw, Poland","(Institute of Mathematical Machines, Warsaw, Poland and Institute of Automation and Robotics, Warsaw, Poland)"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematical Machines, Warsaw, Poland and Institute of Automation and Robotics, Warsaw, Poland","institution_ids":["https://openalex.org/I4210107376"]},{"raw_affiliation_string":"(Institute of Mathematical Machines, Warsaw, Poland and Institute of Automation and Robotics, Warsaw, Poland)","institution_ids":["https://openalex.org/I4210107376"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067912024","display_name":"Andrzej Mas\u0142owski","orcid":null},"institutions":[{"id":"https://openalex.org/I4210107376","display_name":"Institute of Mathematical Machines","ror":"https://ror.org/01x675h84","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210107376"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Andrzej Mas\u0142owski","raw_affiliation_strings":["Institute of Mathematical Machines, Warsaw, Poland and Institute of Automation and Robotics, Warsaw, Poland","(Institute of Mathematical Machines, Warsaw, Poland and Institute of Automation and Robotics, Warsaw, Poland)"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematical Machines, Warsaw, Poland and Institute of Automation and Robotics, Warsaw, Poland","institution_ids":["https://openalex.org/I4210107376"]},{"raw_affiliation_string":"(Institute of Mathematical Machines, Warsaw, Poland and Institute of Automation and Robotics, Warsaw, Poland)","institution_ids":["https://openalex.org/I4210107376"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040935964","display_name":"Geert De Cubber","orcid":"https://orcid.org/0000-0001-7772-0258"},"institutions":[{"id":"https://openalex.org/I150517870","display_name":"Royal Military Academy","ror":"https://ror.org/02vmnye06","country_code":"BE","type":"education","lineage":["https://openalex.org/I150517870"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Geert De Cubber","raw_affiliation_strings":["Royal Military Academy, Brussels, Belgium","Royal Military Academy Brussels, Belgium"],"affiliations":[{"raw_affiliation_string":"Royal Military Academy, Brussels, Belgium","institution_ids":["https://openalex.org/I150517870"]},{"raw_affiliation_string":"Royal Military Academy Brussels, Belgium","institution_ids":["https://openalex.org/I150517870"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5055852189"],"corresponding_institution_ids":["https://openalex.org/I4210107376"],"apc_list":null,"apc_paid":null,"fwci":19.896,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.99388443,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"39","issue":"5","first_page":"464","last_page":"474"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9930999875068665,"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/computer-science","display_name":"Computer science","score":0.8125842809677124},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7030816078186035},{"id":"https://openalex.org/keywords/general-purpose-computing-on-graphics-processing-units","display_name":"General-purpose computing on graphics processing units","score":0.6793573498725891},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4216771721839905},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.4126593768596649},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39015993475914},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3615126609802246},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.36046749353408813},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33675479888916016},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30596989393234253},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.1616886854171753}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8125842809677124},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7030816078186035},{"id":"https://openalex.org/C50630238","wikidata":"https://www.wikidata.org/wiki/Q971505","display_name":"General-purpose computing on graphics processing units","level":3,"score":0.6793573498725891},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4216771721839905},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.4126593768596649},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39015993475914},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3615126609802246},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.36046749353408813},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33675479888916016},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30596989393234253},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.1616886854171753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439911211249751","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911211249751","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W57641186","https://openalex.org/W145635633","https://openalex.org/W146688636","https://openalex.org/W170492366","https://openalex.org/W560020368","https://openalex.org/W748831556","https://openalex.org/W1187244281","https://openalex.org/W1566645237","https://openalex.org/W1848593906","https://openalex.org/W1967014021","https://openalex.org/W1986575189","https://openalex.org/W1988874269","https://openalex.org/W1991202364","https://openalex.org/W2004835121","https://openalex.org/W2026730326","https://openalex.org/W2029222698","https://openalex.org/W2043488348","https://openalex.org/W2049981393","https://openalex.org/W2068743010","https://openalex.org/W2070533613","https://openalex.org/W2072723786","https://openalex.org/W2083518140","https://openalex.org/W2095891955","https://openalex.org/W2096877058","https://openalex.org/W2119851068","https://openalex.org/W2120436040","https://openalex.org/W2121272499","https://openalex.org/W2147647517","https://openalex.org/W2148850252","https://openalex.org/W2278373340","https://openalex.org/W2406121340","https://openalex.org/W2408141628","https://openalex.org/W3083656528","https://openalex.org/W4232151676","https://openalex.org/W4249866455","https://openalex.org/W6606028211","https://openalex.org/W6606963816","https://openalex.org/W6677830229","https://openalex.org/W6681806477","https://openalex.org/W7005529516"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W2091861768","https://openalex.org/W3016861202","https://openalex.org/W2196111060","https://openalex.org/W2807666361","https://openalex.org/W4213431252","https://openalex.org/W4306760020","https://openalex.org/W2120071540","https://openalex.org/W2528465333","https://openalex.org/W2757636402"],"abstract_inverted_index":{"Purpose":[0],"The":[1,57,77,105,136,221,240],"purpose":[2],"of":[3,33,80,108,143,146,156,159,166,177,200,238,242],"this":[4],"paper":[5,110,222],"is":[6,111,171,245],"to":[7,73,84],"demonstrate":[8],"a":[9,86,94,112,224],"real":[10,203,213],"time":[11,214,244],"3D":[12,46,178,198],"localization":[13,179],"and":[14,22,30,66,173,180],"mapping":[15,181,215],"approach":[16],"for":[17,88,149,216,227],"the":[18,28,31,34,61,68,81,109,144,157,160,191],"USAR":[19,192,217],"(Urban":[20],"Search":[21],"Rescue)":[23],"robotic":[24,194,218],"application,":[25],"focusing":[26],"on":[27,37],"performance":[29,153,234],"accuracy":[32,125],"General\u2010purpose":[35],"computing":[36,161],"graphics":[38],"processing":[39],"units":[40],"(GPGPU)\u2010based":[41],"iterative":[42],"closest":[43],"point":[44],"(ICP)":[45],"data":[47,75,90],"registration":[48,71,91],"implemented":[49],"using":[50],"modern":[51],"GPGPU":[52,114],"with":[53,70,98,118,132,163,235],"FERMI":[54],"architecture.":[55],"Design/methodology/approach":[56],"authors":[58,137],"put":[59],"all":[60],"ICP":[62,116,130],"computation":[63],"into":[64],"GPU,":[65],"performed":[67,92],"experiments":[69],"up":[72],"106":[74],"points.":[76],"main":[78,106],"goal":[79],"research":[82],"was":[83],"provide":[85],"method":[87,170,226],"real\u2010time":[89],"by":[93],"mobile":[95,193],"robot":[96],"equipped":[97],"commercially":[99],"available":[100],"laser":[101],"measurement":[102],"system":[103],"3D.":[104],"contribution":[107],"new":[113,225],"based":[115,129],"implementation":[117,131],"regular":[119],"grid":[120],"decomposition.":[121],"It":[122],"guarantees":[123,232],"high":[124],"as":[126],"equivalent":[127],"CPU":[128],"better":[133,152,233],"performance.":[134],"Findings":[135],"have":[138],"shown":[139],"an":[140],"empirical":[141],"analysis":[142],"tuning":[145],"GPUICP":[147],"parameters":[148],"obtaining":[150],"much":[151,246],"(acceptable":[154],"level":[155],"variance":[158,241],"time)":[162],"minimal":[164,236],"lost":[165],"accuracy.":[167,239],"Loop":[168],"closing":[169],"added":[172],"demonstrates":[174],"satisfactory":[175],"results":[176],"in":[182,189,202,211],"urban":[183],"environments.":[184],"This":[185,207],"work":[186,208],"can":[187,209],"help":[188,210],"building":[190],"applications":[195],"that":[196,231],"process":[197],"cloud":[199],"points":[201],"time.":[204],"Practical":[205],"implications":[206],"developing":[212],"applications.":[219],"Originality/value":[220],"proposes":[223],"nearest":[228],"neighbor":[229],"search":[230],"loss":[237],"computational":[243],"less":[247],"than":[248],"SoA.":[249]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}