{"id":"https://openalex.org/W2095725989","doi":"https://doi.org/10.1109/icra.2011.5980220","title":"Highly accurate maximum likelihood laser mapping by jointly optimizing laser points and robot poses","display_name":"Highly accurate maximum likelihood laser mapping by jointly optimizing laser points and robot poses","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2095725989","doi":"https://doi.org/10.1109/icra.2011.5980220","mag":"2095725989"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980220","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5076560318","display_name":"Michael Ruhnke","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Ruhnke","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082992033","display_name":"Rainer K\u00fcmmerle","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rainer Kummerle","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028708181","display_name":"Giorgio Grisetti","orcid":"https://orcid.org/0000-0002-8038-9989"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["DE","IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grisetti","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Germany","University of Roma La Sapienza, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"University of Roma La Sapienza, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"44","issue":null,"first_page":"2812","last_page":"2817"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9962000250816345,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.669456422328949},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.6462869048118591},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6108774542808533},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.585524320602417},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5768271684646606},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5721004605293274},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5715816617012024},{"id":"https://openalex.org/keywords/likelihood-function","display_name":"Likelihood function","score":0.4113858938217163},{"id":"https://openalex.org/keywords/image-resolution","display_name":"Image resolution","score":0.4102681875228882},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3103262782096863},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.2215999960899353},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.21906232833862305},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09256213903427124},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08532842993736267}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.669456422328949},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.6462869048118591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6108774542808533},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.585524320602417},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5768271684646606},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5721004605293274},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5715816617012024},{"id":"https://openalex.org/C89106044","wikidata":"https://www.wikidata.org/wiki/Q45284","display_name":"Likelihood function","level":3,"score":0.4113858938217163},{"id":"https://openalex.org/C205372480","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"Image resolution","level":2,"score":0.4102681875228882},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3103262782096863},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.2215999960899353},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.21906232833862305},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09256213903427124},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08532842993736267},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5980220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980220","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.231.1391","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.231.1391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke11icra.pdf","raw_type":"text"},{"id":"pmh:oai:iris.uniroma1.it:11573/400194","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/400194","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W50439157","https://openalex.org/W1556413902","https://openalex.org/W1567242735","https://openalex.org/W1577509784","https://openalex.org/W1635475619","https://openalex.org/W1656165940","https://openalex.org/W1764461045","https://openalex.org/W1883517952","https://openalex.org/W1974235253","https://openalex.org/W2023259872","https://openalex.org/W2029780423","https://openalex.org/W2049981393","https://openalex.org/W2064169939","https://openalex.org/W2089024363","https://openalex.org/W2099576286","https://openalex.org/W2100053656","https://openalex.org/W2104497032","https://openalex.org/W2107905629","https://openalex.org/W2119538218","https://openalex.org/W2124313187","https://openalex.org/W2131439959","https://openalex.org/W2137837705","https://openalex.org/W2140881794","https://openalex.org/W2146079123","https://openalex.org/W2148228392","https://openalex.org/W2173782939","https://openalex.org/W3171712720","https://openalex.org/W4249866455","https://openalex.org/W6633371715","https://openalex.org/W6637016196","https://openalex.org/W6638006888","https://openalex.org/W6681013399","https://openalex.org/W6681386857"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2385118824","https://openalex.org/W2359476137","https://openalex.org/W2362165903","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2575294667","https://openalex.org/W2967743314","https://openalex.org/W2378962668","https://openalex.org/W2606825221"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,45,80,104,119],"describe":[4],"an":[5,47,82],"algorithm":[6],"for":[7,53],"learning":[8],"highly":[9,106],"accurate":[10,107],"laser-based":[11],"maps":[12,125],"that":[13,32,51,60,85,121,137],"treats":[14],"the":[15,57,64,68,72,77,88,92,99,123,128,138,141,146,149],"overall":[16],"mapping":[17],"problem":[18,23,79],"as":[19],"a":[20,33,41,102],"joint":[21],"optimization":[22,83],"over":[24],"robot":[25,93],"poses":[26,94],"and":[27,44,71,95,115,118],"laser":[28,34,58,69,150],"points.":[29],"We":[30,109],"assume":[31],"range":[35],"finder":[36],"senses":[37],"points":[38,97],"sampled":[39],"from":[40],"regular":[42],"surface":[43],"utilize":[46],"improved":[48],"likelihood":[49],"function":[50],"accounts":[52],"two":[54],"phenomena":[55],"affecting":[56],"measurements":[59],"are":[61],"often":[62],"neglected:":[63],"conic":[65],"shape":[66],"of":[67,90,131,140,148],"beam":[70],"incidence":[73],"angle.":[74],"To":[75],"solve":[76],"entire":[78],"apply":[81],"procedure":[84],"jointly":[86],"adjusts":[87],"position":[89],"all":[91,96],"in":[98],"scans.":[100],"As":[101],"result,":[103],"obtain":[105],"maps.":[108],"evaluated":[110],"our":[111],"approach":[112],"using":[113],"simulated":[114],"real-world":[116],"data":[117],"show":[120],"utilizing":[122],"estimated":[124],"greatly":[126],"improves":[127],"localization":[129],"accuracy":[130,139],"robots.":[132],"The":[133],"results":[134],"furthermore":[135],"suggest":[136],"resulting":[142],"map":[143],"can":[144],"exceed":[145],"resolution":[147],"sensors":[151],"used.":[152]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}