{"id":"https://openalex.org/W2135306925","doi":"https://doi.org/10.1109/arso.2011.6301981","title":"Range sensor based model construction by sparse surface adjustment","display_name":"Range sensor based model construction by sparse surface adjustment","publication_year":2011,"publication_date":"2011-10-01","ids":{"openalex":"https://openalex.org/W2135306925","doi":"https://doi.org/10.1109/arso.2011.6301981","mag":"2135306925"},"language":"en","primary_location":{"id":"doi:10.1109/arso.2011.6301981","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso.2011.6301981","pdf_url":null,"source":{"id":"https://openalex.org/S4306417612","display_name":"Advanced Robotics and its Social Impacts","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics and its Social Impacts","raw_type":"proceedings-article"},"type":"conference-paper","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/A5076560318","display_name":"Michael Ruhnke","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Ruhnke","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082992033","display_name":"Rainer K\u00fcmmerle","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rainer Kummerle","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028708181","display_name":"Giorgio Grisetti","orcid":"https://orcid.org/0000-0002-8038-9989"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["DE","IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grisetti","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany","Sapienza University of Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Sapienza University of Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"46","last_page":"49"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","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/range","display_name":"Range (aeronautics)","score":0.6463754177093506},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.509620189666748},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.42655858397483826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3311144709587097},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17573964595794678},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1432940661907196},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08672302961349487},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08550131320953369}],"concepts":[{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6463754177093506},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.509620189666748},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.42655858397483826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3311144709587097},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17573964595794678},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1432940661907196},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08672302961349487},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08550131320953369}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/arso.2011.6301981","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso.2011.6301981","pdf_url":null,"source":{"id":"https://openalex.org/S4306417612","display_name":"Advanced Robotics and its Social Impacts","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics and its Social Impacts","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.230.9015","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.230.9015","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke11arso.pdf","raw_type":"text"},{"id":"pmh:oai:iris.uniroma1.it:11573/473880","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/473880","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321421","display_name":"Albert-Ludwigs-Universit\u00e4t Freiburg","ror":"https://ror.org/0245cg223"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1187244281","https://openalex.org/W1883517952","https://openalex.org/W1972671602","https://openalex.org/W2049981393","https://openalex.org/W2095725989","https://openalex.org/W2099576286","https://openalex.org/W2137052305","https://openalex.org/W2153054365","https://openalex.org/W2155537009","https://openalex.org/W3143919370","https://openalex.org/W6817117944"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"In":[0],"this":[1,66],"paper,":[2],"we":[3],"propose":[4],"an":[5,100],"approach":[6,87],"to":[7,26,58],"construct":[8],"highly":[9],"accurate":[10,60,117],"3D":[11],"object":[12],"models":[13],"from":[14],"range":[15,76,106],"data.":[16],"The":[17,38,108],"main":[18],"advantage":[19],"of":[20,41,73],"sensor":[21,42,47,53,77],"based":[22,43],"model":[23,29,44,72],"acquisition":[24],"compared":[25],"manual":[27],"CAD":[28],"construction":[30],"is":[31],"the":[32,52,74,130],"short":[33],"time":[34],"needed":[35],"per":[36],"object.":[37],"usual":[39],"drawbacks":[40],"reconstruction":[45],"are":[46],"noise":[48],"and":[49,78,88,103,123],"errors":[50],"in":[51,94],"positions":[54],"which":[55],"typically":[56],"lead":[57],"less":[59],"models.":[61],"Our":[62],"method":[63,114],"drastically":[64],"reduces":[65],"problem":[67],"by":[68],"applying":[69],"a":[70,80,104],"physical":[71],"underlying":[75],"utilizing":[79],"graph-based":[81],"optimization":[82],"technique.":[83],"We":[84],"present":[85],"our":[86,113],"evaluate":[89],"it":[90,125],"on":[91],"data":[92],"recorded":[93],"different":[95],"real":[96],"world":[97],"environments":[98],"with":[99],"RGBD":[101],"camera":[102],"laser":[105],"scanner.":[107],"experimental":[109],"results":[110],"demonstrate":[111],"that":[112,124],"provides":[115],"more":[116],"maps":[118],"than":[119],"standard":[120],"SLAM":[121],"methods":[122],"additionally":[126],"compares":[127],"favorable":[128],"over":[129],"moving":[131],"least":[132],"squares":[133],"method.":[134]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
