{"id":"https://openalex.org/W2767083207","doi":"https://doi.org/10.1109/icpr.2018.8546158","title":"Incremental 3D Line Segment Extraction from Semi-dense SLAM","display_name":"Incremental 3D Line Segment Extraction from Semi-dense SLAM","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2767083207","doi":"https://doi.org/10.1109/icpr.2018.8546158","mag":"2767083207"},"language":"en","primary_location":{"id":"doi:10.1109/icpr.2018.8546158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr.2018.8546158","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 24th International Conference on Pattern Recognition (ICPR)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1708.03275","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022442335","display_name":"Shida He","orcid":"https://orcid.org/0000-0002-8889-9043"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Shida He","raw_affiliation_strings":["University of Alberta"],"affiliations":[{"raw_affiliation_string":"University of Alberta","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019003578","display_name":"Xuebin Qin","orcid":"https://orcid.org/0000-0002-9042-7192"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xuebin Qin","raw_affiliation_strings":["University of Alberta"],"affiliations":[{"raw_affiliation_string":"University of Alberta","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100739120","display_name":"Zichen Zhang","orcid":"https://orcid.org/0000-0002-8919-6243"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zichen Zhang","raw_affiliation_strings":["University of Alberta"],"affiliations":[{"raw_affiliation_string":"University of Alberta","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030948380","display_name":"Martin J\u00e4gersand","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Martin Jagersand","raw_affiliation_strings":["University of Alberta"],"affiliations":[{"raw_affiliation_string":"University of Alberta","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022442335"],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00193634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1658","last_page":"1663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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"}}],"keywords":[{"id":"https://openalex.org/keywords/line-segment","display_name":"Line segment","score":0.7994067072868347},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7539823055267334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6734565496444702},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.6249500513076782},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6194888353347778},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5296924710273743},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5071187019348145},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48144763708114624},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.47577229142189026},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4437456727027893},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.43944051861763},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4169512689113617},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.37775588035583496},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2353384792804718},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13024139404296875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07502231001853943}],"concepts":[{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.7994067072868347},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7539823055267334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6734565496444702},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.6249500513076782},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6194888353347778},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5296924710273743},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5071187019348145},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48144763708114624},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.47577229142189026},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4437456727027893},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.43944051861763},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4169512689113617},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.37775588035583496},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2353384792804718},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13024139404296875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07502231001853943},{"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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icpr.2018.8546158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr.2018.8546158","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 24th International Conference on Pattern Recognition (ICPR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1708.03275","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1708.03275","pdf_url":"https://arxiv.org/pdf/1708.03275","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2767083207","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1708.03275","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1708.03275","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1708.03275","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1708.03275","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1708.03275","pdf_url":"https://arxiv.org/pdf/1708.03275","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2767083207.pdf","grobid_xml":"https://content.openalex.org/works/W2767083207.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1526697042","https://openalex.org/W1612997784","https://openalex.org/W2000789130","https://openalex.org/W2008229822","https://openalex.org/W2008849352","https://openalex.org/W2009703102","https://openalex.org/W2021278996","https://openalex.org/W2021851106","https://openalex.org/W2057408700","https://openalex.org/W2057488855","https://openalex.org/W2085261163","https://openalex.org/W2151026574","https://openalex.org/W2151290401","https://openalex.org/W2156116778","https://openalex.org/W2160072137","https://openalex.org/W2173552480","https://openalex.org/W2223719734","https://openalex.org/W2293181427","https://openalex.org/W2295862812","https://openalex.org/W2328987086","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2552930270","https://openalex.org/W2738596250","https://openalex.org/W2797881512","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W6689192172"],"related_works":["https://openalex.org/W2612152129","https://openalex.org/W1967063827","https://openalex.org/W2051740391","https://openalex.org/W2462648945","https://openalex.org/W2999234079","https://openalex.org/W2052476433","https://openalex.org/W2138657124","https://openalex.org/W2593465100","https://openalex.org/W3126266918","https://openalex.org/W2736070019","https://openalex.org/W2927062716","https://openalex.org/W2974890673","https://openalex.org/W1974640027","https://openalex.org/W2547174479","https://openalex.org/W98221011","https://openalex.org/W2779856146","https://openalex.org/W2201935712","https://openalex.org/W3135910325","https://openalex.org/W2086550580","https://openalex.org/W2842457967"],"abstract_inverted_index":{"Although":[0],"semi-dense":[1,49],"Simultaneous":[2],"Localization":[3],"and":[4,26,79,85,127],"Mapping":[5],"(SLAM)":[6],"has":[7],"been":[8],"becoming":[9],"more":[10],"popular":[11],"over":[12],"the":[13,44,110,114,119,134,156],"last":[14],"few":[15],"years,":[16],"there":[17],"is":[18],"a":[19,54,66,122,164],"lack":[20],"of":[21,82,118,158],"efficient":[22],"methods":[23],"for":[24,58],"representing":[25],"processing":[27],"their":[28],"large":[29],"scale":[30],"point":[31,45,166],"clouds.":[32],"In":[33,88],"this":[34],"paper,":[35],"we":[36,52,148],"propose":[37],"using":[38],"3D":[39,59,67,91,116,135,159],"line":[40,60,68,75,92,112,136,152],"segments":[41,93,100,137,153],"to":[42,163],"simplify":[43],"clouds":[46],"generated":[47,138],"by":[48,139],"SLAM.":[50],"Specifically,":[51],"present":[53],"novel":[55],"incremental":[56],"approach":[57,64],"segment":[61,69,76],"extraction.":[62],"This":[63],"reduces":[65],"fitting":[70,77,103],"problem":[71],"into":[72],"two":[73,106],"2D":[74],"problems":[78],"takes":[80],"advantage":[81],"both":[83],"images":[84],"depth":[86],"maps.":[87],"our":[89,140],"method,":[90],"are":[94,142],"fitted":[95],"incrementally":[96],"along":[97],"detected":[98,111],"edge":[99],"via":[101],"minimizing":[102],"errors":[104],"on":[105],"planes.":[107],"By":[108],"clustering":[109],"segments,":[113],"resulting":[115],"representation":[117],"scene":[120],"achieves":[121],"good":[123],"balance":[124],"between":[125],"compactness":[126],"completeness.":[128],"Our":[129],"experimental":[130],"results":[131],"show":[132],"that":[133,150],"method":[141],"highly":[143],"accurate.":[144],"As":[145],"an":[146],"application,":[147],"demonstrate":[149],"these":[151],"greatly":[154],"improve":[155],"quality":[157],"surface":[160],"reconstruction":[161],"compared":[162],"feature":[165],"based":[167],"baseline.":[168]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}