{"id":"https://openalex.org/W1587847960","doi":"https://doi.org/10.1109/icar.2015.7251518","title":"A probabilistic, variable-resolution and effective quadtree representation for mapping of large environments","display_name":"A probabilistic, variable-resolution and effective quadtree representation for mapping of large environments","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1587847960","doi":"https://doi.org/10.1109/icar.2015.7251518","mag":"1587847960"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2015.7251518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251518","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":"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/A5065987766","display_name":"Yingfeng Chen","orcid":"https://orcid.org/0000-0002-7995-2113"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingfeng Chen","raw_affiliation_strings":["School of Computer and Science, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer and Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101708969","display_name":"Shuai Wei","orcid":"https://orcid.org/0000-0002-8362-4331"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Shuai","raw_affiliation_strings":["School of Computer and Science, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer and Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084710341","display_name":"Xiaoping Chen","orcid":"https://orcid.org/0000-0001-8992-9286"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoping Chen","raw_affiliation_strings":["School of Computer and Science, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer and Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":3.5644,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.91849454,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"605","last_page":"610"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/quadtree","display_name":"Quadtree","score":0.9785959720611572},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6963873505592346},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.6786862015724182},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.672194242477417},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5559605360031128},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.49866580963134766},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3908127248287201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3644963204860687},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.32858985662460327},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2541835904121399},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19422119855880737}],"concepts":[{"id":"https://openalex.org/C151416825","wikidata":"https://www.wikidata.org/wiki/Q934791","display_name":"Quadtree","level":2,"score":0.9785959720611572},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6963873505592346},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.6786862015724182},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.672194242477417},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5559605360031128},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.49866580963134766},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3908127248287201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3644963204860687},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32858985662460327},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2541835904121399},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19422119855880737},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar.2015.7251518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251518","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W80201019","https://openalex.org/W1542612979","https://openalex.org/W1999050017","https://openalex.org/W2008196645","https://openalex.org/W2010662231","https://openalex.org/W2030021468","https://openalex.org/W2070866676","https://openalex.org/W2077539472","https://openalex.org/W2122736190","https://openalex.org/W2125420246","https://openalex.org/W2130422193","https://openalex.org/W2133844819","https://openalex.org/W2147542365","https://openalex.org/W2154418813","https://openalex.org/W2336416123","https://openalex.org/W6603194255","https://openalex.org/W6678669752"],"related_works":["https://openalex.org/W2372141727","https://openalex.org/W2374683706","https://openalex.org/W2367540977","https://openalex.org/W3130035014","https://openalex.org/W3097864550","https://openalex.org/W4210470126","https://openalex.org/W3010770189","https://openalex.org/W2890234822","https://openalex.org/W2101410970","https://openalex.org/W2117612006"],"abstract_inverted_index":{"In":[0],"this":[1,51],"paper,":[2],"a":[3,34,61,93,97,110,137],"probabilistic":[4,57],"quadtree":[5,32,91,125,150],"map":[6,13,67,157],"is":[7,15,25,33,105],"presented":[8],"instead":[9],"of":[10,39,45,75,89,113,133,140],"traditional":[11],"grids":[12,156],"which":[14,71],"used":[16],"widely":[17],"in":[18,83,130,136,159],"robot":[19],"mapping":[20,121],"and":[21,42,59,78,100,120],"localization":[22,119],"field":[23],"yet":[24],"confronted":[26],"with":[27,56],"prohibitive":[28],"storage":[29],"consumption.":[30],"A":[31],"well-known":[35],"data":[36,80],"structure":[37],"capable":[38],"achieving":[40],"compact":[41],"efficient":[43],"representation":[44,151],"large":[46,160],"two-dimensional":[47],"environments.":[48,162],"We":[49,107],"extend":[50],"basic":[52],"idea":[53],"by":[54],"integrating":[55],"framework":[58],"propose":[60],"clamping":[62],"scheme":[63],"to":[64,85,155],"update":[65],"the":[66,73,76,87,114,145],"occupancy":[68],"probability":[69],"value,":[70],"eliminates":[72],"uncertainty":[74],"system":[77],"facilitates":[79],"compression.":[81],"Meanwhile,":[82],"order":[84],"speed":[86],"operation":[88],"locating":[90],"nodes,":[92],"coding":[94],"rule":[95],"between":[96],"node":[98],"coordinate":[99],"its":[101],"corresponding":[102],"access":[103],"key":[104],"adopted.":[106],"also":[108],"discuss":[109],"new":[111],"implementation":[112],"Rao-Blackwellized":[115],"particle":[116],"filter":[117],"simultaneous":[118],"(SLAM)":[122],"based":[123,148],"on":[124,149],"representation.":[126],"Experiments":[127],"are":[128],"conducted":[129],"different":[131],"sizes":[132],"areas":[134],"(even":[135],"shopping":[138],"mall":[139],"23,700":[141],"m2)":[142],"demonstrate":[143],"that":[144],"SLAM":[146],"algorithm":[147],"works":[152],"excellently":[153],"compared":[154],"especially":[158],"scale":[161]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
