{"id":"https://openalex.org/W4402715852","doi":"https://doi.org/10.1109/cis-ram61939.2024.10673043","title":"3D Map Generation for Indoor Non-Manhattan World Environments","display_name":"3D Map Generation for Indoor Non-Manhattan World Environments","publication_year":2024,"publication_date":"2024-08-08","ids":{"openalex":"https://openalex.org/W4402715852","doi":"https://doi.org/10.1109/cis-ram61939.2024.10673043"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram61939.2024.10673043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram61939.2024.10673043","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","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/A5107526761","display_name":"Timothy Bonner","orcid":null},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Timothy Bonner","raw_affiliation_strings":["Cambridge University,Department of Engineering,Cambridge,United Kingdom,CB2 1PZ"],"affiliations":[{"raw_affiliation_string":"Cambridge University,Department of Engineering,Cambridge,United Kingdom,CB2 1PZ","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077266671","display_name":"Bryan Wei Xian Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Bryan Wei Xian Lee","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,117411"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,117411","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073126434","display_name":"Sutthiphong Srigrarom","orcid":"https://orcid.org/0000-0002-0239-183X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Sutthiphong Srigrarom","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,117411"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,117411","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107994865","display_name":"Wai Lun Leong","orcid":"https://orcid.org/0000-0003-4256-929X"},"institutions":[{"id":"https://openalex.org/I162266279","display_name":"Temasek Life Sciences Laboratory","ror":"https://ror.org/0574eex11","country_code":"SG","type":"facility","lineage":["https://openalex.org/I162266279"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wai Lun Leong","raw_affiliation_strings":["National University of Singapore,Temasek Laboratories,Singapore,117411"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Temasek Laboratories,Singapore,117411","institution_ids":["https://openalex.org/I162266279","https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107490590","display_name":"Jimmy Chiun","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jimmy Chiun","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,117411"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,117411","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5107526761"],"corresponding_institution_ids":["https://openalex.org/I241749"],"apc_list":null,"apc_paid":null,"fwci":1.5572,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.85679834,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"417","last_page":"422"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9987999796867371,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9983000159263611,"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/computer-science","display_name":"Computer science","score":0.5802386999130249},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4375265836715698}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5802386999130249},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4375265836715698}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cis-ram61939.2024.10673043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram61939.2024.10673043","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6899999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W1976952084","https://openalex.org/W2023567713","https://openalex.org/W2154418813","https://openalex.org/W2536043048","https://openalex.org/W2758653969","https://openalex.org/W4298410530","https://openalex.org/W4313855236","https://openalex.org/W4387385885"],"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/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Accurate":[0],"mapping":[1,32,42],"of":[2,65,96,118],"indoor":[3,52,102],"environments":[4],"is":[5],"crucial":[6],"for":[7,31,49,88],"various":[8],"real-world":[9],"applications,":[10],"including":[11],"search":[12,81],"and":[13,34,82,84,116,122],"rescue":[14],"operations,":[15],"as":[16,18],"well":[17],"home":[19],"robotics.":[20],"Utilizing":[21],"small,":[22],"cost-effective":[23],"drones":[24],"provides":[25],"significant":[26],"advantages":[27],"over":[28],"traditional":[29],"methods":[30,67,106],"confined":[33],"unknown":[35],"spaces.":[36],"This":[37],"paper":[38],"advances":[39],"existing":[40],"robotics":[41],"research":[43],"by":[44,68],"presenting":[45],"a":[46],"novel":[47],"algorithm":[48,72],"three-dimensional":[50],"(3D)":[51],"environment":[53,89],"mapping,":[54],"particularly":[55],"in":[56,99,110],"non-Manhattan":[57],"World":[58],"settings.":[59],"Our":[60],"approach":[61],"addresses":[62],"the":[63,94],"limitations":[64],"previous":[66,105],"introducing":[69],"an":[70],"efficient":[71],"that":[73],"filters":[74],"noise,":[75],"identifies":[76],"structural":[77],"corners":[78],"using":[79],"breadth-first":[80],"convolution,":[83],"constructs":[85],"nonintersecting":[86],"polygons":[87],"mapping.":[90],"Experimental":[91],"results":[92],"validated":[93],"effectiveness":[95],"our":[97],"solution":[98],"producing":[100],"reliable":[101],"maps":[103],"where":[104],"fail,":[107],"showing":[108],"improvements":[109],"automatic":[111],"wall":[112],"detection,":[113],"noise":[114],"resilience,":[115],"handling":[117],"more":[119],"complex":[120],"shapes":[121],"scenarios.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}