{"id":"https://openalex.org/W1947005919","doi":"https://doi.org/10.1109/icar.2015.7251515","title":"A fast dense stereo matching algorithm with an application to 3D occupancy mapping using quadrocopters","display_name":"A fast dense stereo matching algorithm with an application to 3D occupancy mapping using quadrocopters","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1947005919","doi":"https://doi.org/10.1109/icar.2015.7251515","mag":"1947005919"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2015.7251515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251515","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","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/A5034517672","display_name":"Radouane Ait-Jellal","orcid":null},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Radouane Ait-Jellal","raw_affiliation_strings":["Cognitive Systems","Cognitive Systems, University of T\u00fcbingen, Sand 1, D-72076, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitive Systems","institution_ids":[]},{"raw_affiliation_string":"Cognitive Systems, University of T\u00fcbingen, Sand 1, D-72076, Germany","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004958444","display_name":"Andreas Zell","orcid":"https://orcid.org/0000-0003-3299-2211"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Zell","raw_affiliation_strings":["Computer Science Department, University of T\u00fcbingen, T\u00fcbingen, Germany","Computer Science Department, University of T\u00fcbingen, Sand 1, D-72076, Germany"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of T\u00fcbingen, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Computer Science Department, University of T\u00fcbingen, Sand 1, D-72076, Germany","institution_ids":["https://openalex.org/I8087733"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034517672"],"corresponding_institution_ids":["https://openalex.org/I8087733"],"apc_list":null,"apc_paid":null,"fwci":0.3744,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.67737698,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"587","last_page":"592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.8098043203353882},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7832603454589844},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6943771243095398},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.6662783622741699},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.588572084903717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5719104409217834},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5680030584335327},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.529576301574707},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5180501937866211},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5055127143859863},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.41590213775634766},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26755034923553467},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17404475808143616},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12236076593399048}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.8098043203353882},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7832603454589844},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6943771243095398},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.6662783622741699},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.588572084903717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5719104409217834},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5680030584335327},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.529576301574707},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5180501937866211},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5055127143859863},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.41590213775634766},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26755034923553467},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17404475808143616},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12236076593399048},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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":2,"locations":[{"id":"doi:10.1109/icar.2015.7251515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251515","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.725.6168","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.725.6168","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cogsys.cs.uni-tuebingen.de/publikationen/2015/Ait_JellalICAR2015.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1570293554","https://openalex.org/W1622297907","https://openalex.org/W1912649600","https://openalex.org/W1982403571","https://openalex.org/W1990452344","https://openalex.org/W1998058414","https://openalex.org/W2043627623","https://openalex.org/W2054536235","https://openalex.org/W2069607360","https://openalex.org/W2092698325","https://openalex.org/W2104974755","https://openalex.org/W2106403211","https://openalex.org/W2112421488","https://openalex.org/W2113827609","https://openalex.org/W2117248802","https://openalex.org/W2121781154","https://openalex.org/W2123782500","https://openalex.org/W2128357735","https://openalex.org/W2130951666","https://openalex.org/W2143516773","https://openalex.org/W2154234100","https://openalex.org/W2155830983","https://openalex.org/W2161038826","https://openalex.org/W2167667767","https://openalex.org/W6636604814","https://openalex.org/W6640185247","https://openalex.org/W6683758401"],"related_works":["https://openalex.org/W4282043467","https://openalex.org/W2105697914","https://openalex.org/W3093197249","https://openalex.org/W2162255319","https://openalex.org/W3033776171","https://openalex.org/W1999050017","https://openalex.org/W5037887","https://openalex.org/W4229444815","https://openalex.org/W4293877624","https://openalex.org/W2099811626"],"abstract_inverted_index":{"We":[0,27,38,118],"propose":[1],"a":[2,24,78],"fast":[3],"algorithm":[4,105],"for":[5,50],"computing":[6],"stereo":[7,18,70,116],"correspondences":[8,14],"and":[9,21,46],"correcting":[10],"the":[11,32,43,63,68,93,120,124],"mismatches.":[12],"The":[13,54,104,128],"are":[15],"computed":[16],"using":[17,35],"block":[19],"matching":[20],"refined":[22],"with":[23,82,96],"depth-aware":[25],"method.":[26],"compute":[28],"16":[29],"disparities":[30],"at":[31],"same":[33],"time":[34,64,100],"SSE":[36,57],"instructions.":[37],"evaluated":[39],"our":[40],"method":[41,88],"on":[42,77],"Middlebury":[44],"benchmark":[45],"obtained":[47],"promosing":[48],"results":[49],"practical":[51],"realtime":[52,135],"applications.":[53],"use":[55],"of":[56,92,101],"instructions":[58],"allows":[59],"us":[60],"to":[61,66,72,109,133],"reduce":[62],"needed":[65],"process":[67],"Tsukuba":[69],"pair":[71],"8":[73],"milliseconds":[74],"(125":[75],"fps)":[76],"Core":[79],"i5":[80],"CPU":[81],"2\u00d73.3":[83],"GHz.":[84],"Our":[85],"disparity":[86],"refinement":[87],"has":[89,106],"corrected":[90],"40%":[91],"wrong":[94],"matches":[95],"an":[97],"additional":[98],"computational":[99],"5.2%":[102],"(0.41ms).":[103],"been":[107],"used":[108,119],"build":[110],"3D":[111],"occupancy":[112],"grid":[113],"maps":[114],"from":[115],"images.":[117],"datasets":[121],"provided":[122],"by":[123],"EuRoC":[125],"Robotic":[126],"Challenge.":[127],"reconstruction":[129],"was":[130],"accurate":[131],"enough":[132],"perform":[134],"safe":[136],"navigation.":[137]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}