{"id":"https://openalex.org/W3208442141","doi":"https://doi.org/10.1109/ecmr50962.2021.9568799","title":"Mapping the Static Parts of Dynamic Scenes from 3D LiDAR Point Clouds Exploiting Ground Segmentation","display_name":"Mapping the Static Parts of Dynamic Scenes from 3D LiDAR Point Clouds Exploiting Ground Segmentation","publication_year":2021,"publication_date":"2021-08-01","ids":{"openalex":"https://openalex.org/W3208442141","doi":"https://doi.org/10.1109/ecmr50962.2021.9568799","mag":"3208442141"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr50962.2021.9568799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568799","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","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/A5005631084","display_name":"Mehul Arora","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mehul Arora","raw_affiliation_strings":["University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010951584","display_name":"Louis Wiesmann","orcid":"https://orcid.org/0000-0003-0985-7433"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Louis Wiesmann","raw_affiliation_strings":["University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032262344","display_name":"Xieyuanli Chen","orcid":"https://orcid.org/0000-0003-0955-6681"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Xieyuanli Chen","raw_affiliation_strings":["University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":19.9737,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.99557882,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9993000030517578,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8148238658905029},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7732534408569336},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7487556338310242},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6631367802619934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6579527854919434},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6352025270462036},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5844911932945251},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.553292453289032},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5055248737335205},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4179091155529022},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16138812899589539},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.13365915417671204},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13218340277671814},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1060875654220581},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08712881803512573}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8148238658905029},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7732534408569336},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7487556338310242},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6631367802619934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6579527854919434},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6352025270462036},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5844911932945251},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.553292453289032},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5055248737335205},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4179091155529022},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16138812899589539},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.13365915417671204},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13218340277671814},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1060875654220581},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08712881803512573},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr50962.2021.9568799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568799","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.550000011920929}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1501506108","https://openalex.org/W1653887546","https://openalex.org/W1973080743","https://openalex.org/W2079448160","https://openalex.org/W2085261163","https://openalex.org/W2132360065","https://openalex.org/W2133844819","https://openalex.org/W2143146388","https://openalex.org/W2145023731","https://openalex.org/W2150066425","https://openalex.org/W2296228853","https://openalex.org/W2606894526","https://openalex.org/W2614543743","https://openalex.org/W2790141132","https://openalex.org/W2805521962","https://openalex.org/W2965737813","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3080432947","https://openalex.org/W3130044230","https://openalex.org/W3133309409","https://openalex.org/W3164083741","https://openalex.org/W3206776160","https://openalex.org/W3206790221","https://openalex.org/W3212743282","https://openalex.org/W4241543438","https://openalex.org/W6618872416","https://openalex.org/W6781732762","https://openalex.org/W6791158499","https://openalex.org/W6795833106","https://openalex.org/W6802141193"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2114282491"],"abstract_inverted_index":{"Dynamic":[0],"objects":[1,117],"are":[2],"an":[3],"inherent":[4],"part":[5],"of":[6,15,53,56,60,90],"our":[7,124,142],"world,":[8],"but":[9,28],"their":[10],"presence":[11],"deteriorates":[12],"the":[13,36,51,57,61,70,82,91,109,115,145],"performance":[14,154],"various":[16],"localization,":[17],"navigation,":[18],"and":[19,65,85,105,118,133,151],"SLAM":[20],"algorithms.":[21,136],"This":[22],"not":[23],"only":[24],"makes":[25],"it":[26,107],"important":[27],"necessary":[29],"to":[30,111],"remove":[31],"these":[32],"dynamic":[33,67,83,130],"points":[34,68,84],"from":[35,69],"map":[37,77],"before":[38],"they":[39],"can":[40],"be":[41],"used":[42],"for":[43,128],"other":[44],"tasks.":[45],"In":[46],"this":[47,96],"paper,":[48],"we":[49,98],"address":[50],"problem":[52],"building":[54],"maps":[55],"static":[58,93,119],"aspects":[59],"world":[62],"by":[63],"detecting":[64],"removing":[66],"source":[71],"point":[72],"clouds.":[73],"We":[74,122],"target":[75],"a":[76,87,100],"cleaning":[78],"approach":[79,125],"that":[80,141],"removes":[81],"maintains":[86],"high":[88],"quality":[89],"generated":[92],"map.":[94],"To":[95],"end,":[97],"propose":[99],"novel":[101],"ground":[102,134],"segmentation":[103,135],"method":[104,143],"integrate":[106],"into":[108],"OctoMap":[110],"better":[112],"distinguish":[113],"between":[114],"moving":[116],"road":[120],"backgrounds.":[121],"evaluate":[123],"using":[126],"SemanticKITTI":[127],"both":[129,149],"object":[131],"removal":[132],"The":[137],"evaluation":[138],"results":[139],"show":[140],"outperforms":[144],"baseline":[146],"methods":[147],"in":[148,155],"tasks":[150],"achieves":[152],"good":[153],"generating":[156],"clean":[157],"maps.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}