{"id":"https://openalex.org/W4312629556","doi":"https://doi.org/10.1109/access.2022.3227967","title":"Setting Method of Downsampling Factor and Grid Factor for NDT Relocation Algorithm in Dynamic Environment","display_name":"Setting Method of Downsampling Factor and Grid Factor for NDT Relocation Algorithm in Dynamic Environment","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4312629556","doi":"https://doi.org/10.1109/access.2022.3227967"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3227967","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3227967","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09978292.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09978292.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082625689","display_name":"Jian Gu","orcid":"https://orcid.org/0000-0001-7309-1896"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Gu","raw_affiliation_strings":["School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo, China","Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, National Sub-center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, Zibo, China"],"affiliations":[{"raw_affiliation_string":"School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, National Sub-center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, Zibo, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101666108","display_name":"Yubin Lan","orcid":"https://orcid.org/0000-0001-6664-5571"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]},{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yubin Lan","raw_affiliation_strings":["School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo, China","National Center for International Collaboration Research on Precision Agricultural Aviation Pesticides Spraying Technology/College of Engineering, South China Agricultural University, Guangzhou, China","Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, National Sub-center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, Zibo, China"],"affiliations":[{"raw_affiliation_string":"School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"National Center for International Collaboration Research on Precision Agricultural Aviation Pesticides Spraying Technology/College of Engineering, South China Agricultural University, Guangzhou, China","institution_ids":["https://openalex.org/I101479585"]},{"raw_affiliation_string":"Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, National Sub-center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, Zibo, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108296956","display_name":"Fanxia Kong","orcid":null},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanxia Kong","raw_affiliation_strings":["School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo, China","Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, National Sub-center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, Zibo, China"],"affiliations":[{"raw_affiliation_string":"School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, National Sub-center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, Zibo, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100615821","display_name":"Lei Liu","orcid":"https://orcid.org/0000-0001-5876-6349"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Liu","raw_affiliation_strings":["School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo, China","Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, National Sub-center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, Zibo, China"],"affiliations":[{"raw_affiliation_string":"School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, National Sub-center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, Zibo, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001396741","display_name":"Lili Yi","orcid":"https://orcid.org/0009-0000-6941-5325"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lili Yi","raw_affiliation_strings":["School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo, China","Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, National Sub-center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, Zibo, China"],"affiliations":[{"raw_affiliation_string":"School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, National Sub-center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology, Zibo, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5082625689"],"corresponding_institution_ids":["https://openalex.org/I119203015"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.7215,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.90151721,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"10","issue":null,"first_page":"130264","last_page":"130272"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9973000288009644,"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/upsampling","display_name":"Upsampling","score":0.6240386962890625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6033878922462463},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5661443471908569},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.44839727878570557},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4120848476886749},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27894607186317444},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2595178484916687},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14157983660697937}],"concepts":[{"id":"https://openalex.org/C110384440","wikidata":"https://www.wikidata.org/wiki/Q1143270","display_name":"Upsampling","level":3,"score":0.6240386962890625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6033878922462463},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5661443471908569},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.44839727878570557},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4120848476886749},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27894607186317444},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2595178484916687},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14157983660697937},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3227967","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3227967","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09978292.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:abfd5009a7ec4df9832b5f2e01c0fdb4","is_oa":true,"landing_page_url":"https://doaj.org/article/abfd5009a7ec4df9832b5f2e01c0fdb4","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 130264-130272 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3227967","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3227967","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09978292.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312629556.pdf","grobid_xml":"https://content.openalex.org/works/W4312629556.grobid-xml"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1180867177","https://openalex.org/W1969329424","https://openalex.org/W1970504153","https://openalex.org/W2005995917","https://openalex.org/W2034207289","https://openalex.org/W2035549624","https://openalex.org/W2081303520","https://openalex.org/W2108134361","https://openalex.org/W2131684180","https://openalex.org/W2146023544","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2508311245","https://openalex.org/W2535547924","https://openalex.org/W2545672457","https://openalex.org/W2571164974","https://openalex.org/W2588265967","https://openalex.org/W2765608241","https://openalex.org/W2770866044","https://openalex.org/W2947723524","https://openalex.org/W2965596547","https://openalex.org/W2984230369","https://openalex.org/W2990396425","https://openalex.org/W3009961704","https://openalex.org/W3018424141","https://openalex.org/W3032592799","https://openalex.org/W3045580667","https://openalex.org/W3089263838","https://openalex.org/W3102327032","https://openalex.org/W3103406720","https://openalex.org/W3109186979","https://openalex.org/W3110870077","https://openalex.org/W3111584925","https://openalex.org/W3112338958","https://openalex.org/W3116401329","https://openalex.org/W3117970719","https://openalex.org/W3130366180","https://openalex.org/W3134216721","https://openalex.org/W3139381212","https://openalex.org/W3154861551","https://openalex.org/W3164242635","https://openalex.org/W3178733939","https://openalex.org/W3183082133","https://openalex.org/W3186582707","https://openalex.org/W3193962629","https://openalex.org/W3207344666","https://openalex.org/W3211987683","https://openalex.org/W3215747706","https://openalex.org/W3216158842","https://openalex.org/W4205709873","https://openalex.org/W4226280513","https://openalex.org/W4285248928","https://openalex.org/W4285334962","https://openalex.org/W4293794985"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2062399876","https://openalex.org/W2607795551","https://openalex.org/W3155117723","https://openalex.org/W1991429770","https://openalex.org/W1983892167","https://openalex.org/W2281134365","https://openalex.org/W4310746709","https://openalex.org/W4306309518","https://openalex.org/W3176213335"],"abstract_inverted_index":{"Normal":[0],"Distribution":[1],"Transform":[2],"(NDT)":[3],"algorithm":[4,34,237],"plays":[5],"the":[6,10,14,43,65,82,125,145,149,153,163,169,174,185,188,192,196,199,213,216,225,231,235,241,245,252,259,263,265,270,274],"role":[7],"of":[8,13,24,45,64,67,132,136,148,178,187,198,215,234,262],"detecting":[9],"relative":[11],"pose":[12],"vehicle":[15,72],"in":[16,35,71,152,181],"high-precision":[17],"map.":[18],"In":[19],"this":[20],"paper,":[21],"a":[22,76,91,97,113,182],"method":[23],"setting":[25],"downsampling":[26,189],"factor":[27,30,190,194,228,233,248,255],"and":[28,50,104,176,191,206,251,272],"grid":[29,94,193,232,247],"for":[31,58,109],"NDT":[32,47,236,246,266],"relocation":[33,48,267],"dynamic":[36,55,78,122,150,179,183],"environment":[37],"is":[38,88,95,117,159,229,238,249,256,269],"proposed,":[39],"which":[40],"can":[41],"solve":[42],"problems":[44],"excessive":[46],"error":[49],"location":[51],"loss":[52],"caused":[53],"by":[54,167],"objects":[56,123],"accounting":[57],"1":[59],"%":[60,63],"to":[61,111,141,162,240,258],"35":[62],"volume":[66,146,177],"scanning":[68],"point":[69,79,85,116,156],"cloud":[70,80,86,157],"environment.":[73],"To":[74],"simulate":[75],"real":[77],"environment,":[81,184],"single-frame":[83],"LiDAR":[84],"space":[87,158],"voxelized":[89],"into":[90],"mesh.":[92],"Each":[93],"assigned":[96],"random":[98],"number":[99],"evenly":[100],"distributed":[101],"between":[102],"0":[103],"1.":[105],"The":[106,129,204,220],"threshold":[107,130,165],"value":[108,131,166],"whether":[110],"add":[112],"Gaussian":[114,137],"noise":[115,138],"also":[118],"set.":[119,143],"Seven":[120],"representative":[121],"on":[124,195,212],"highway":[126],"are":[127,202,209],"selected.":[128],"probability":[133],"distribution":[134],"function":[135],"object":[139,151],"needs":[140],"be":[142],"Then":[144],"content":[147,175],"single":[154],"frame":[155],"calculated":[160],"according":[161],"set":[164],"using":[168],"definite":[170],"integral.":[171],"By":[172],"changing":[173],"obstacles":[180],"effects":[186],"accuracy":[197,268],"repositioning":[200,217],"trajectory":[201,218],"obtained.":[203],"resampling":[205],"mesh":[207],"coefficients":[208],"optimized":[210],"based":[211],"analysis":[214],"accuracy.":[219],"results":[221],"show":[222],"that":[223],"When":[224,244],"current":[226],"sampling":[227,254],"fixed,":[230],"proportional":[239],"RMSE":[242],"factor.":[243],"fixed":[250],"down":[253],"equal":[257],"side":[260],"length":[261],"obstacle,":[264],"highest":[271],"reaches":[273],"local":[275],"optimum.":[276]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
