{"id":"https://openalex.org/W1567732071","doi":"https://doi.org/10.1109/icra.2015.7139788","title":"A compact spherical RGBD keyframe-based representation","display_name":"A compact spherical RGBD keyframe-based representation","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1567732071","doi":"https://doi.org/10.1109/icra.2015.7139788","mag":"1567732071"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","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/A5049520052","display_name":"Tawsif Gokhool","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Tawsif Gokhool","raw_affiliation_strings":["INRIA Sophia-Antipolis, France","[INRIA-Sophia Antipolis, France]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"[INRIA-Sophia Antipolis, France]","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004781743","display_name":"Renato Martins","orcid":"https://orcid.org/0000-0003-0053-0004"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Renato Martins","raw_affiliation_strings":["INRIA Sophia-Antipolis, France","[INRIA-Sophia Antipolis, France]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"[INRIA-Sophia Antipolis, France]","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010097635","display_name":"Patrick Rives","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Patrick Rives","raw_affiliation_strings":["INRIA Sophia-Antipolis, France","[INRIA-Sophia Antipolis, France]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"[INRIA-Sophia Antipolis, France]","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040331274","display_name":"Noela Despr\u00e9","orcid":null},"institutions":[{"id":"https://openalex.org/I103167339","display_name":"Airbus (Italy)","ror":"https://ror.org/00v8s1x79","country_code":"IT","type":"company","lineage":["https://openalex.org/I103167339","https://openalex.org/I4210121748"]},{"id":"https://openalex.org/I112991645","display_name":"Airbus (France)","ror":"https://ror.org/023qdcg29","country_code":"FR","type":"company","lineage":["https://openalex.org/I112991645","https://openalex.org/I4210121748"]}],"countries":["FR","IT"],"is_corresponding":false,"raw_author_name":"Noela Despre","raw_affiliation_strings":["Airbus Defence and Space, Toulouse, France",", Airbus Defence and Space, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Airbus Defence and Space, Toulouse, France","institution_ids":["https://openalex.org/I112991645"]},{"raw_affiliation_string":", Airbus Defence and Space, Toulouse, France","institution_ids":["https://openalex.org/I103167339"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":32.1019,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.99114148,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"12","issue":null,"first_page":"4273","last_page":"4278"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9961000084877014,"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/computer-science","display_name":"Computer science","score":0.668731153011322},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.618996798992157},{"id":"https://openalex.org/keywords/compact-space","display_name":"Compact space","score":0.5966379046440125},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5682171583175659},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5381041765213013},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5374278426170349},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5224065780639648},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5218052864074707},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.49660950899124146},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.46459460258483887},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4205312728881836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3752893805503845},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.18124142289161682},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17222675681114197}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.668731153011322},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.618996798992157},{"id":"https://openalex.org/C18648836","wikidata":"https://www.wikidata.org/wiki/Q381892","display_name":"Compact space","level":2,"score":0.5966379046440125},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5682171583175659},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5381041765213013},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5374278426170349},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5224065780639648},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5218052864074707},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.49660950899124146},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.46459460258483887},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4205312728881836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3752893805503845},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.18124142289161682},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17222675681114197},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/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.2015.7139788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W88434223","https://openalex.org/W1979061520","https://openalex.org/W1987648924","https://openalex.org/W2041094000","https://openalex.org/W2046496533","https://openalex.org/W2064451896","https://openalex.org/W2072242701","https://openalex.org/W2089618650","https://openalex.org/W2097345007","https://openalex.org/W2108136994","https://openalex.org/W2130069065","https://openalex.org/W2157315715","https://openalex.org/W2160547335","https://openalex.org/W2163468753","https://openalex.org/W2163704618","https://openalex.org/W2171056981","https://openalex.org/W2243794092","https://openalex.org/W4214940561","https://openalex.org/W6603604263","https://openalex.org/W6640271026","https://openalex.org/W6645061419","https://openalex.org/W6674688856","https://openalex.org/W6690453576"],"related_works":["https://openalex.org/W2121543990","https://openalex.org/W2402800040","https://openalex.org/W4252969132","https://openalex.org/W2000020320","https://openalex.org/W2805799113","https://openalex.org/W1981078319","https://openalex.org/W4387315838","https://openalex.org/W2077709279","https://openalex.org/W2055388154","https://openalex.org/W4287199035"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3,26,75],"environmental":[4],"representation":[5,59],"approach":[6],"based":[7],"on":[8,25,103],"hybrid":[9],"metric":[10],"and":[11,85,123],"topological":[12],"maps":[13],"as":[14,119],"a":[15,56,69,104],"key":[16],"component":[17],"for":[18,82],"mobile":[19],"robot":[20],"navigation.":[21],"Focus":[22],"is":[23,80,100],"made":[24],"ego-centric":[27],"pose":[28],"graph":[29],"structure":[30],"by":[31],"the":[32,38,42,45,61,90],"use":[33],"of":[34,41,47,60,92,111],"Keyframes":[35],"to":[36],"capture":[37],"local":[39],"properties":[40],"scene.":[43],"With":[44],"aim":[46],"reducing":[48],"data":[49,86],"redundancy,":[50],"suppress":[51],"sensor":[52,115],"noise":[53],"whilst":[54],"maintaining":[55],"dense":[57],"compact":[58],"environment,":[62],"neighbouring":[63],"augmented":[64],"spheres":[65],"are":[66,127],"fused":[67],"in":[68],"single":[70],"representation.":[71],"To":[72],"this":[73],"end,":[74],"uncertainty":[76],"error":[77,126],"model":[78],"propagation":[79],"formulated":[81],"outlier":[83],"rejection":[84],"fusion,":[87],"enhanced":[88],"with":[89],"notion":[91],"landmark":[93],"stability":[94],"over":[95],"time.":[96],"Finally,":[97],"our":[98],"algorithm":[99],"tested":[101],"thoroughly":[102],"newly":[105],"developed":[106],"wide":[107],"angle":[108],"360\u00b0":[109],"field":[110],"view":[112],"(FOV)":[113],"spherical":[114],"where":[116],"improvements":[117],"such":[118],"trajectory":[120],"drift,":[121],"compactness":[122],"reduced":[124],"tracking":[125],"demonstrated.":[128]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
