{"id":"https://openalex.org/W2100379228","doi":"https://doi.org/10.1109/icra.2011.5980397","title":"A LIDAR streaming architecture for mobile robotics with application to 3D structure characterization","display_name":"A LIDAR streaming architecture for mobile robotics with application to 3D structure characterization","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2100379228","doi":"https://doi.org/10.1109/icra.2011.5980397","mag":"2100379228"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980397","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/A5077640190","display_name":"Mayank Bansal","orcid":"https://orcid.org/0000-0002-5798-5352"},"institutions":[{"id":"https://openalex.org/I1298353152","display_name":"SRI International","ror":"https://ror.org/05s570m15","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1298353152"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mayank Bansal","raw_affiliation_strings":["Vision Technologies, SRI International Sarnoff, Princeton, NJ, USA","Vision Technologies, SRI International Sarnoff, 201 Washington Road, Princeton, NJ 08540, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision Technologies, SRI International Sarnoff, Princeton, NJ, USA","institution_ids":["https://openalex.org/I1298353152"]},{"raw_affiliation_string":"Vision Technologies, SRI International Sarnoff, 201 Washington Road, Princeton, NJ 08540, USA","institution_ids":["https://openalex.org/I1298353152"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036970596","display_name":"Bogdan Matei","orcid":"https://orcid.org/0000-0003-2146-6961"},"institutions":[{"id":"https://openalex.org/I1298353152","display_name":"SRI International","ror":"https://ror.org/05s570m15","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1298353152"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bogdan Matei","raw_affiliation_strings":["Vision Technologies, SRI International Sarnoff, Princeton, NJ, USA","Vision Technologies, SRI International Sarnoff, 201 Washington Road, Princeton, NJ 08540, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision Technologies, SRI International Sarnoff, Princeton, NJ, USA","institution_ids":["https://openalex.org/I1298353152"]},{"raw_affiliation_string":"Vision Technologies, SRI International Sarnoff, 201 Washington Road, Princeton, NJ 08540, USA","institution_ids":["https://openalex.org/I1298353152"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034375064","display_name":"B. Southall","orcid":null},"institutions":[{"id":"https://openalex.org/I1298353152","display_name":"SRI International","ror":"https://ror.org/05s570m15","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1298353152"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ben Southall","raw_affiliation_strings":["Vision Technologies, SRI International Sarnoff, Princeton, NJ, USA","Vision Technologies, SRI International Sarnoff, 201 Washington Road, Princeton, NJ 08540, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision Technologies, SRI International Sarnoff, Princeton, NJ, USA","institution_ids":["https://openalex.org/I1298353152"]},{"raw_affiliation_string":"Vision Technologies, SRI International Sarnoff, 201 Washington Road, Princeton, NJ 08540, USA","institution_ids":["https://openalex.org/I1298353152"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040593678","display_name":"Jayan Eledath","orcid":"https://orcid.org/0000-0003-2065-4856"},"institutions":[{"id":"https://openalex.org/I1298353152","display_name":"SRI International","ror":"https://ror.org/05s570m15","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1298353152"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jayan Eledath","raw_affiliation_strings":["Vision Technologies, SRI International Sarnoff, Princeton, NJ, USA","Vision Technologies, SRI International Sarnoff, 201 Washington Road, Princeton, NJ 08540, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision Technologies, SRI International Sarnoff, Princeton, NJ, USA","institution_ids":["https://openalex.org/I1298353152"]},{"raw_affiliation_string":"Vision Technologies, SRI International Sarnoff, 201 Washington Road, Princeton, NJ 08540, USA","institution_ids":["https://openalex.org/I1298353152"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091076182","display_name":"Harpreet Sawhney","orcid":null},"institutions":[{"id":"https://openalex.org/I1298353152","display_name":"SRI International","ror":"https://ror.org/05s570m15","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1298353152"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harpreet Sawhney","raw_affiliation_strings":["Vision Technologies, SRI International Sarnoff, Princeton, NJ, USA","Vision Technologies, SRI International Sarnoff, 201 Washington Road, Princeton, NJ 08540, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vision Technologies, SRI International Sarnoff, Princeton, NJ, USA","institution_ids":["https://openalex.org/I1298353152"]},{"raw_affiliation_string":"Vision Technologies, SRI International Sarnoff, 201 Washington Road, Princeton, NJ 08540, USA","institution_ids":["https://openalex.org/I1298353152"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1298353152"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1803","last_page":"1810"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8168693780899048},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.5722274780273438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5703028440475464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5691004395484924},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5293591618537903},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5225667357444763},{"id":"https://openalex.org/keywords/memory-footprint","display_name":"Memory footprint","score":0.4740818738937378},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4539364278316498},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3807290494441986},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3495646119117737}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8168693780899048},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.5722274780273438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5703028440475464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5691004395484924},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5293591618537903},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5225667357444763},{"id":"https://openalex.org/C74912251","wikidata":"https://www.wikidata.org/wiki/Q6815727","display_name":"Memory footprint","level":2,"score":0.4740818738937378},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4539364278316498},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3807290494441986},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3495646119117737},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980397","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W8136715","https://openalex.org/W14561773","https://openalex.org/W1520661278","https://openalex.org/W1536864910","https://openalex.org/W1966324474","https://openalex.org/W2051819074","https://openalex.org/W2064477198","https://openalex.org/W2099907898","https://openalex.org/W2107732308","https://openalex.org/W2125691069","https://openalex.org/W2519933945","https://openalex.org/W2582974675","https://openalex.org/W6600320595","https://openalex.org/W6600604256","https://openalex.org/W6631036470","https://openalex.org/W6662971569","https://openalex.org/W6726845938","https://openalex.org/W6732695680"],"related_works":["https://openalex.org/W3027020613","https://openalex.org/W2016533837","https://openalex.org/W3167885074","https://openalex.org/W2892386716","https://openalex.org/W4306164210","https://openalex.org/W1998563493","https://openalex.org/W4313316311","https://openalex.org/W4362608745","https://openalex.org/W2383143032","https://openalex.org/W2622983441"],"abstract_inverted_index":{"We":[0,14,157],"present":[1],"a":[2,16,35,52,58,80,95,107,135,145,164],"novel":[3],"LIDAR":[4],"streaming":[5,25,161],"architecture":[6,132,162],"for":[7,113,149,170],"real-time,":[8],"on-board":[9],"processing":[10,26,82,114],"using":[11],"unmanned":[12],"robots.":[13],"propose":[15],"two-level":[17],"3D":[18,29,45,54,77,110,150,166],"data":[19,30,71,96,116,141],"structure":[20,167],"that":[21],"allows":[22,144],"pipelined":[23],"and":[24,72,106,143,173,178],"of":[27,67,75,103,121,127,185],"the":[28,40,43,68,73,85,90,101,104,115,118,122,154,159,183],"as":[31],"it":[32],"arrives":[33],"from":[34],"moving":[36],"robot:":[37],"(i)":[38],"at":[39,84,89,153],"coarse":[41],"level,":[42,92],"incoming":[44],"scans":[46],"are":[47],"stored":[48],"in":[49,51,117,175],"memory":[50,138],"dense":[53,109],"voxel":[55,61,111],"grid":[56,112],"with":[57],"relatively":[59],"large":[60],"size":[62],"-":[63],"this":[64],"ensures":[65],"buffering":[66],"most":[69],"recent":[70],"availability":[74],"sufficient":[76],"measurements":[78],"within":[79],"specific":[81],"volume":[83],"next":[86],"level;":[87],"(ii)":[88],"fine":[91],"we":[93],"employ":[94],"chunking":[97],"mechanism":[98],"guided":[99],"by":[100],"movement":[102],"robot":[105],"rolling":[108],"immediate":[119],"vicinity":[120],"robot,":[123],"which":[124],"enables":[125],"reuse":[126],"previously":[128],"computed":[129],"features.":[130],"The":[131],"proposed":[133,160],"requires":[134],"very":[136],"small":[137],"footprint,":[139],"minimal":[140],"copying,":[142],"fast":[146],"spatial":[147],"access":[148],"data,":[151],"even":[152],"finest":[155],"resolutions.":[156],"illustrate":[158],"on":[163],"real-time":[165],"characterization":[168],"task":[169],"detecting":[171],"doors":[172],"stairs":[174],"indoor":[176],"environments":[177],"show":[179],"qualitative":[180],"results":[181],"demonstrating":[182],"effectiveness":[184],"our":[186],"approach.":[187]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
