{"id":"https://openalex.org/W3095022399","doi":"https://doi.org/10.1109/icnsc48988.2020.9238092","title":"Autonomous 3D Exploration of Indoor Environment Based on Wavefront Algorithm","display_name":"Autonomous 3D Exploration of Indoor Environment Based on Wavefront Algorithm","publication_year":2020,"publication_date":"2020-10-30","ids":{"openalex":"https://openalex.org/W3095022399","doi":"https://doi.org/10.1109/icnsc48988.2020.9238092","mag":"3095022399"},"language":"en","primary_location":{"id":"doi:10.1109/icnsc48988.2020.9238092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc48988.2020.9238092","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Networking, Sensing and Control (ICNSC)","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/A5069172379","display_name":"Chunhua Tang","orcid":"https://orcid.org/0000-0003-3186-5181"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunhua Tang","raw_affiliation_strings":["School of Mechanical and Electrical Engineer, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineer, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012008482","display_name":"Yefeng Liang","orcid":"https://orcid.org/0009-0006-0167-6215"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yefeng Liang","raw_affiliation_strings":["School of Mechanical and Electrical Engineer, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineer, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100768970","display_name":"Shumei Yu","orcid":"https://orcid.org/0000-0002-2625-0310"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shumei Yu","raw_affiliation_strings":["School of Mechanical and Electrical Engineer, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineer, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063905802","display_name":"Rongchuan Sun","orcid":"https://orcid.org/0000-0002-0890-9097"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongchuan Sun","raw_affiliation_strings":["School of Mechanical and Electrical Engineer, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineer, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020430058","display_name":"Jianying Zheng","orcid":"https://orcid.org/0000-0002-3902-8495"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianying Zheng","raw_affiliation_strings":["School of Rail Transportation, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Rail Transportation, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.263,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.95157462,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":95},"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9916999936103821,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7244560122489929},{"id":"https://openalex.org/keywords/wavefront","display_name":"Wavefront","score":0.7146570086479187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6429817080497742},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5462654232978821},{"id":"https://openalex.org/keywords/frontier","display_name":"Frontier","score":0.5377365350723267},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4708537459373474},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4659615159034729},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4650005102157593},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.44895920157432556},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.436562716960907},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37685444951057434},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1844383180141449},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15186548233032227},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13018622994422913}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7244560122489929},{"id":"https://openalex.org/C165699331","wikidata":"https://www.wikidata.org/wiki/Q461533","display_name":"Wavefront","level":2,"score":0.7146570086479187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6429817080497742},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5462654232978821},{"id":"https://openalex.org/C2778571376","wikidata":"https://www.wikidata.org/wiki/Q1355821","display_name":"Frontier","level":2,"score":0.5377365350723267},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4708537459373474},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4659615159034729},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4650005102157593},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.44895920157432556},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.436562716960907},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37685444951057434},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1844383180141449},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15186548233032227},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13018622994422913},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icnsc48988.2020.9238092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc48988.2020.9238092","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Networking, Sensing and Control (ICNSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[{"id":"https://openalex.org/G5016167525","display_name":null,"funder_award_id":"61673288,61773273","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1505528089","https://openalex.org/W1763528081","https://openalex.org/W2082219174","https://openalex.org/W2089437550","https://openalex.org/W2107667896","https://openalex.org/W2133844819","https://openalex.org/W2552165419","https://openalex.org/W2566671722","https://openalex.org/W2727499257","https://openalex.org/W2771728020","https://openalex.org/W2795581033","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W4226099950","https://openalex.org/W2318374363","https://openalex.org/W2347401120","https://openalex.org/W2041961361","https://openalex.org/W2310010941","https://openalex.org/W579144800","https://openalex.org/W2334292868","https://openalex.org/W3199430700","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Autonomous":[0],"exploration":[1,24,107,123,138],"and":[2,90,135],"mapping":[3],"is":[4,33,45,109],"an":[5,15],"important":[6],"part":[7],"of":[8,11,42,79],"autonomous":[9],"navigation":[10],"mobile":[12,64,84,95],"robots":[13],"in":[14],"unknown":[16],"environment.":[17],"This":[18],"paper":[19],"proposes":[20],"a":[21],"new":[22],"3D":[23,122],"strategy":[25,108],"based":[26,124],"on":[27,125],"the":[28,55,63,68,73,77,83,87,92,94,101,106,112,121,126,131,137],"wavefront":[29,43,80,127],"algorithm.":[30,81],"RGB-D":[31],"camera":[32],"used":[34,46],"to":[35,47,59,67,72,98],"obtain":[36],"environmental":[37],"information.":[38],"The":[39],"diffusion":[40],"process":[41],"algorithm":[44,128],"find":[48],"frontier":[49,57,69,88,103,133],"points.":[50],"Firstly,":[51],"selection":[52],"function":[53],"determines":[54],"next":[56,102],"point":[58,70,89,134],"be":[60],"explored.":[61],"Then,":[62],"robot":[65,85,96],"moves":[66],"according":[71],"path":[74],"planned":[75],"by":[76],"way":[78],"When":[82],"reaches":[86],"completes":[91],"mapping,":[93],"continues":[97],"search":[99],"for":[100],"point.":[104],"Finally,":[105],"tested":[110],"using":[111],"Robot":[113],"Operating":[114],"System":[115],"(ROS).":[116],"Simulational":[117],"experiment":[118],"shows":[119],"that":[120],"can":[129],"choose":[130],"right":[132],"complete":[136],"task":[139],"quickly.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
