{"id":"https://openalex.org/W3203229917","doi":"https://doi.org/10.1109/case49439.2021.9551430","title":"VDB-Mapping: A High Resolution and Real-Time Capable 3D Mapping Framework for Versatile Mobile Robots","display_name":"VDB-Mapping: A High Resolution and Real-Time Capable 3D Mapping Framework for Versatile Mobile Robots","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W3203229917","doi":"https://doi.org/10.1109/case49439.2021.9551430","mag":"3203229917"},"language":"en","primary_location":{"id":"doi:10.1109/case49439.2021.9551430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-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/A5049138068","display_name":"Marvin Gro\u00dfe Besselmann","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"M. Grosse Besselmann","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044854758","display_name":"Lennart Puck","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"L. Puck","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008282515","display_name":"Lea Steffen","orcid":"https://orcid.org/0000-0002-7485-6915"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"L. Steffen","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Roennau","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004964717","display_name":"Ruediger Dillmann","orcid":"https://orcid.org/0000-0002-2049-8219"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R. Dillmann","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5049138068"],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":4.08,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.93236658,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"448","last_page":"454"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7895558476448059},{"id":"https://openalex.org/keywords/memory-footprint","display_name":"Memory footprint","score":0.7636518478393555},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5666719675064087},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.56206876039505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5413976907730103},{"id":"https://openalex.org/keywords/data-structure","display_name":"Data structure","score":0.4981215000152588},{"id":"https://openalex.org/keywords/footprint","display_name":"Footprint","score":0.47472652792930603},{"id":"https://openalex.org/keywords/raw-data","display_name":"Raw data","score":0.4740837812423706},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.458774209022522},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4563884735107422},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4537912905216217},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4488178789615631},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.431941956281662},{"id":"https://openalex.org/keywords/directx","display_name":"DirectX","score":0.42883947491645813},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.424871027469635},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4213981330394745},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.41066351532936096},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32943978905677795},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.10413011908531189}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7895558476448059},{"id":"https://openalex.org/C74912251","wikidata":"https://www.wikidata.org/wiki/Q6815727","display_name":"Memory footprint","level":2,"score":0.7636518478393555},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5666719675064087},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.56206876039505},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5413976907730103},{"id":"https://openalex.org/C162319229","wikidata":"https://www.wikidata.org/wiki/Q175263","display_name":"Data structure","level":2,"score":0.4981215000152588},{"id":"https://openalex.org/C132943942","wikidata":"https://www.wikidata.org/wiki/Q2562511","display_name":"Footprint","level":2,"score":0.47472652792930603},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.4740837812423706},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.458774209022522},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4563884735107422},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4537912905216217},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4488178789615631},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.431941956281662},{"id":"https://openalex.org/C544400634","wikidata":"https://www.wikidata.org/wiki/Q188695","display_name":"DirectX","level":2,"score":0.42883947491645813},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.424871027469635},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4213981330394745},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.41066351532936096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32943978905677795},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.10413011908531189},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49439.2021.9551430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1991752086","https://openalex.org/W2029315739","https://openalex.org/W2052391272","https://openalex.org/W2131991591","https://openalex.org/W2133844819","https://openalex.org/W2139710904","https://openalex.org/W2143220699","https://openalex.org/W2152864241","https://openalex.org/W2154418813","https://openalex.org/W2411093439","https://openalex.org/W2549216668","https://openalex.org/W2901608006","https://openalex.org/W2963883849","https://openalex.org/W3017511842","https://openalex.org/W4250058668"],"related_works":["https://openalex.org/W2380963126","https://openalex.org/W2160425906","https://openalex.org/W1539483014","https://openalex.org/W260566294","https://openalex.org/W2124899340","https://openalex.org/W2385207382","https://openalex.org/W1544908136","https://openalex.org/W2662536592","https://openalex.org/W4383502225","https://openalex.org/W2279406337"],"abstract_inverted_index":{"Recent":[0],"developments":[1],"of":[2,13,24,81,155,174,184],"versatile":[3],"mobile":[4],"robots":[5],"demand":[6],"a":[7,50,85,124,134,161,191],"precise":[8],"and":[9,17,41,67,96,193],"complete":[10],"volumetric":[11,56,144],"representation":[12,52],"space":[14],"for":[15,53,78,108,165],"path":[16],"mission":[18],"planning.":[19],"However,":[20],"the":[21,46,65,79,87,148,153,156,175,185,198,207],"immense":[22],"amount":[23],"accumulated":[25],"raw":[26,177],"data":[27,159,166,217],"points":[28],"from":[29],"3D":[30,178],"sensors":[31],"quickly":[32],"becomes":[33],"unmanageable,":[34],"thereby":[35],"becoming":[36],"infeasible":[37],"regarding":[38],"memory":[39,66,194],"footprint":[40,195],"navigation":[42],"itself.":[43],"To":[44],"abstract":[45],"necessary":[47],"information":[48],"into":[49],"usable":[51],"navigation,":[54],"usually":[55],"grid":[57],"maps":[58,89],"are":[59,90],"applied.":[60],"Although":[61],"these":[62,120],"approaches":[63],"solve":[64,119],"handling":[68],"issues,":[69],"current":[70],"implementations":[71],"tend":[72],"to":[73,94,99,118,142,152,212],"require":[74],"high":[75,219],"computational":[76],"time":[77],"insertion":[80,167],"new":[82],"data.":[83,102,145,180],"As":[84],"result":[86],"generated":[88],"often":[91,199],"not":[92],"up":[93],"date":[95],"incomplete":[97],"due":[98],"dropped":[100],"sensor":[101,179],"This":[103],"greatly":[104],"impairs":[105],"their":[106],"usefulness":[107],"navigating":[109],"robot":[110],"systems":[111],"in":[112],"dynamically":[113],"changing":[114],"environments.":[115],"In":[116],"order":[117],"issues":[121],"we":[122],"propose":[123],"novel":[125],"probabilistic":[126],"mapping":[127],"framework":[128,187],"based":[129],"on":[130,218],"OpenVDB,":[131],"which":[132],"is":[133,168,188,210],"hierarchical":[135],"tree":[136],"structure":[137],"with":[138],"efficient":[139],"access":[140,151],"methods":[141],"discretized":[143],"By":[146],"utilizing":[147],"fast":[149],"direct":[150],"bitmasks":[154],"underlying":[157],"OpenVDB":[158],"structure,":[160],"significant":[162],"performance":[163,192],"boost":[164],"achieved.":[169],"Thus,":[170],"enabling":[171],"real-time":[172],"processing":[173],"incoming":[176],"An":[181],"in-depth":[182],"evaluation":[183,204],"proposed":[186],"provided,":[189],"including":[190],"comparison":[196],"against":[197],"employed":[200],"OctoMap":[201],"framework.":[202],"The":[203],"reveals,":[205],"that":[206],"presented":[208],"VDB-Mapping":[209],"able":[211],"efficiently":[213],"process":[214],"long":[215],"range":[216],"resolution":[220],"grids.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
