{"id":"https://openalex.org/W2806309433","doi":"https://doi.org/10.1109/icarsc.2018.8374173","title":"A sparse-dense approach for efficient grid mapping","display_name":"A sparse-dense approach for efficient grid mapping","publication_year":2018,"publication_date":"2018-04-01","ids":{"openalex":"https://openalex.org/W2806309433","doi":"https://doi.org/10.1109/icarsc.2018.8374173","mag":"2806309433"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc.2018.8374173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2018.8374173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5033783120","display_name":"Eurico Pedrosa","orcid":"https://orcid.org/0000-0002-7954-9922"},"institutions":[{"id":"https://openalex.org/I60858718","display_name":"University of Aveiro","ror":"https://ror.org/00nt41z93","country_code":"PT","type":"education","lineage":["https://openalex.org/I60858718"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Eurico Pedrosa","raw_affiliation_strings":["Department of Electronics, Telecommunications and Informatics (DETI), University of Aveiro, Portugal"],"affiliations":[{"raw_affiliation_string":"Department of Electronics, Telecommunications and Informatics (DETI), University of Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062824074","display_name":"Artur Pereira","orcid":"https://orcid.org/0000-0002-7099-1247"},"institutions":[{"id":"https://openalex.org/I60858718","display_name":"University of Aveiro","ror":"https://ror.org/00nt41z93","country_code":"PT","type":"education","lineage":["https://openalex.org/I60858718"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Artur Pereira","raw_affiliation_strings":["Department of Electronics, Telecommunications and Informatics (DETI), University of Aveiro, Portugal"],"affiliations":[{"raw_affiliation_string":"Department of Electronics, Telecommunications and Informatics (DETI), University of Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055569781","display_name":"Nuno Lau","orcid":"https://orcid.org/0000-0003-0513-158X"},"institutions":[{"id":"https://openalex.org/I60858718","display_name":"University of Aveiro","ror":"https://ror.org/00nt41z93","country_code":"PT","type":"education","lineage":["https://openalex.org/I60858718"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nuno Lau","raw_affiliation_strings":["Department of Electronics, Telecommunications and Informatics (DETI), University of Aveiro, Portugal"],"affiliations":[{"raw_affiliation_string":"Department of Electronics, Telecommunications and Informatics (DETI), University of Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033783120"],"corresponding_institution_ids":["https://openalex.org/I60858718"],"apc_list":null,"apc_paid":null,"fwci":0.3258,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.66360251,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"136","last_page":"141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11269","display_name":"Algorithms and Data Compression","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11269","display_name":"Algorithms and Data Compression","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9972000122070312,"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":0.9948999881744385,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8288612961769104},{"id":"https://openalex.org/keywords/octree","display_name":"Octree","score":0.7934789657592773},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.657712996006012},{"id":"https://openalex.org/keywords/data-structure","display_name":"Data structure","score":0.6199488639831543},{"id":"https://openalex.org/keywords/cache","display_name":"Cache","score":0.5748674869537354},{"id":"https://openalex.org/keywords/grid-cell","display_name":"Grid cell","score":0.4952634871006012},{"id":"https://openalex.org/keywords/space-partitioning","display_name":"Space partitioning","score":0.42276597023010254},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3276706337928772},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.32609474658966064},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.3130195438861847},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06752356886863708}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8288612961769104},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.7934789657592773},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.657712996006012},{"id":"https://openalex.org/C162319229","wikidata":"https://www.wikidata.org/wiki/Q175263","display_name":"Data structure","level":2,"score":0.6199488639831543},{"id":"https://openalex.org/C115537543","wikidata":"https://www.wikidata.org/wiki/Q165596","display_name":"Cache","level":2,"score":0.5748674869537354},{"id":"https://openalex.org/C2983008078","wikidata":"https://www.wikidata.org/wiki/Q863495","display_name":"Grid cell","level":3,"score":0.4952634871006012},{"id":"https://openalex.org/C13670688","wikidata":"https://www.wikidata.org/wiki/Q3500548","display_name":"Space partitioning","level":2,"score":0.42276597023010254},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3276706337928772},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.32609474658966064},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.3130195438861847},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06752356886863708},{"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/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/icarsc.2018.8374173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2018.8374173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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":11,"referenced_works":["https://openalex.org/W1532701078","https://openalex.org/W1580101844","https://openalex.org/W2000259215","https://openalex.org/W2107745473","https://openalex.org/W2124123377","https://openalex.org/W2131991591","https://openalex.org/W2133844819","https://openalex.org/W2143220699","https://openalex.org/W2171330332","https://openalex.org/W4248595526","https://openalex.org/W6631963404"],"related_works":["https://openalex.org/W3135129390","https://openalex.org/W2365690707","https://openalex.org/W1491293736","https://openalex.org/W2135368250","https://openalex.org/W285660394","https://openalex.org/W1981792202","https://openalex.org/W4248699882","https://openalex.org/W1975879240","https://openalex.org/W4205566295","https://openalex.org/W2319527609"],"abstract_inverted_index":{"The":[0,93],"regular":[1],"volumetric":[2,48],"grid":[3,49],"is":[4,95],"a":[5,22,38,47,58,77],"popular":[6],"method":[7],"used":[8],"in":[9,105],"mapping":[10,65],"to":[11,42],"represent":[12],"the":[13,44,54,63,83],"environment,":[14],"however":[15],"for":[16],"large":[17,23],"three-dimensional":[18],"environments":[19],"it":[20],"requires":[21],"amount":[24],"of":[25,46,86],"memory":[26,108],"that":[27,50,80,101],"may":[28],"not":[29],"even":[30],"be":[31],"available.":[32],"In":[33],"this":[34],"paper":[35],"we":[36,68],"present":[37],"sparse-dense":[39],"data":[40,56,59,72],"structure":[41,60],"manage":[43],"space":[45,84,106],"provides":[51],"improvements":[52],"over":[53,110],"octree":[55],"structure,":[57],"popularized":[61],"by":[62,76],"OctoMap":[64,111],"framework.":[66],"Furthermore,":[67],"propose":[69],"an":[70,103],"online":[71],"compression":[73],"scheme":[74],"supported":[75],"cache":[78],"mechanism":[79],"further":[81],"improves":[82],"efficiency":[85,109],"our":[87],"approach":[88,94],"without":[89,112],"compromising":[90,113],"time":[91],"efficiency.":[92],"evaluated":[96],"using":[97],"public":[98],"available":[99],"datasets":[100],"show":[102],"increase":[104],"and":[107],"accuracy.":[114]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}