{"id":"https://openalex.org/W1996161932","doi":"https://doi.org/10.1109/icra.2013.6630654","title":"Improving point-cloud accuracy from a moving platform in field operations","display_name":"Improving point-cloud accuracy from a moving platform in field operations","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W1996161932","doi":"https://doi.org/10.1109/icra.2013.6630654","mag":"1996161932"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5041963191","display_name":"H\u00e5kan Almqvist","orcid":"https://orcid.org/0000-0001-5007-548X"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Hakan Almqvist","raw_affiliation_strings":["Centre for Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","Centre for Appl. Autonomous Sensor Syst. (AASS), Orebro Univ., Orebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Centre for Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Centre for Appl. Autonomous Sensor Syst. (AASS), Orebro Univ., Orebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101576376","display_name":"Martin Magnusson","orcid":"https://orcid.org/0000-0001-8658-2985"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Martin Magnusson","raw_affiliation_strings":["Centre for Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","Centre for Appl. Autonomous Sensor Syst. (AASS), Orebro Univ., Orebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Centre for Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Centre for Appl. Autonomous Sensor Syst. (AASS), Orebro Univ., Orebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044352907","display_name":"Todor Stoyanov","orcid":"https://orcid.org/0000-0002-6013-4874"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Todor Stoyanov","raw_affiliation_strings":["Centre for Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","Centre for Appl. Autonomous Sensor Syst. (AASS), Orebro Univ., Orebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Centre for Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Centre for Appl. Autonomous Sensor Syst. (AASS), Orebro Univ., Orebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088586617","display_name":"Achim J. Lilienthal","orcid":"https://orcid.org/0000-0003-0217-9326"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Achim J. Lilienthal","raw_affiliation_strings":["Centre for Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","Centre for Appl. Autonomous Sensor Syst. (AASS), Orebro Univ., Orebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Centre for Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Centre for Appl. Autonomous Sensor Syst. (AASS), Orebro Univ., Orebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041963191"],"corresponding_institution_ids":["https://openalex.org/I26437253"],"apc_list":null,"apc_paid":null,"fwci":1.063,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.7684634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"733","last_page":"738"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987000226974487,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.994700014591217,"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/point-cloud","display_name":"Point cloud","score":0.6905678510665894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6884295344352722},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.6583385467529297},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5260864496231079},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5202273726463318},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.36874616146087646},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33697274327278137},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.28091585636138916},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.17204341292381287},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07703375816345215},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0661098062992096}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6905678510665894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6884295344352722},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.6583385467529297},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5260864496231079},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5202273726463318},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.36874616146087646},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33697274327278137},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.28091585636138916},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.17204341292381287},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07703375816345215},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0661098062992096},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6630654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W31017078","https://openalex.org/W87590009","https://openalex.org/W222103745","https://openalex.org/W270226574","https://openalex.org/W1567242735","https://openalex.org/W1605248310","https://openalex.org/W1650975994","https://openalex.org/W1966287061","https://openalex.org/W2012502415","https://openalex.org/W2045546253","https://openalex.org/W2049981393","https://openalex.org/W2055207897","https://openalex.org/W2081547245","https://openalex.org/W2096020743","https://openalex.org/W2119538218","https://openalex.org/W2121806728","https://openalex.org/W2131439959","https://openalex.org/W2145178709","https://openalex.org/W2155169398","https://openalex.org/W2155537009","https://openalex.org/W2158052518","https://openalex.org/W2399732523","https://openalex.org/W2406067508","https://openalex.org/W3143919370","https://openalex.org/W6601251177","https://openalex.org/W6608900896","https://openalex.org/W6609945527"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W1997222214","https://openalex.org/W2802581102","https://openalex.org/W4205786897"],"abstract_inverted_index":{"This":[0],"paper":[1,90],"presents":[2],"a":[3,16,20,67,116,142,148],"method":[4,86,156,171],"for":[5],"improving":[6],"the":[7,61,64,71,80,95,107,134,158,162,167],"quality":[8],"of":[9,73,93,97,106,160],"distorted":[10],"3D":[11,31,98],"point":[12,47,75,99,129,168],"clouds":[13],"made":[14],"from":[15],"vehicle":[17,65],"equipped":[18],"with":[19,147],"laser":[21],"scanner":[22],"moving":[23,54],"over":[24],"uneven":[25],"terrain.":[26],"Existing":[27],"methods":[28],"that":[29,45,63],"use":[30],"point-cloud":[32],"data":[33,81],"(for":[34],"tasks":[35],"such":[36],"as":[37,110],"mapping,":[38],"localisation,":[39],"and":[40,119,124,166,177],"object":[41],"detection)":[42],"typically":[43],"assume":[44],"each":[46],"cloud":[48,130],"is":[49,59,91,131,145,172],"accurate.":[50],"For":[51],"autonomous":[52],"robots":[53],"in":[55,77,88],"rough":[56],"terrain,":[57],"it":[58],"often":[60],"case":[62,79],"moves":[66],"substantial":[68],"amount":[69],"during":[70],"acquisition":[72],"one":[74],"cloud,":[76],"which":[78,141],"will":[82],"be":[83],"distorted.":[84],"The":[85,154,170],"proposed":[87,155],"this":[89],"capable":[92],"increasing":[94],"accuracy":[96,159],"clouds,":[100],"without":[101,113,120],"assuming":[102],"any":[103],"specific":[104],"features":[105],"environment":[108],"(such":[109],"planar":[111],"walls),":[112],"resorting":[114],"to":[115,133],"\u201cstop-scan-go\u201d":[117],"approach,":[118],"relying":[121],"on":[122,174],"specialised":[123],"expensive":[125],"hardware.":[126],"Each":[127],"new":[128],"matched":[132],"previous":[135],"using":[136],"normal-distribution-transform":[137],"(NDT)":[138],"registration,":[139],"after":[140],"mini-loop":[143],"closure":[144],"performed":[146],"local,":[149],"per-scan,":[150],"graph-based":[151],"SLAM":[152],"method.":[153],"increases":[157],"both":[161,175],"measured":[163],"platform":[164],"trajectory":[165],"cloud.":[169],"validated":[173],"real-world":[176],"simulated":[178],"data.":[179]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}