{"id":"https://openalex.org/W2412925031","doi":"https://doi.org/10.1109/icra.2016.7487267","title":"A unified representation for application of architectural constraints in large-scale mapping","display_name":"A unified representation for application of architectural constraints in large-scale mapping","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2412925031","doi":"https://doi.org/10.1109/icra.2016.7487267","mag":"2412925031"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5048186982","display_name":"Paul Amayo","orcid":"https://orcid.org/0000-0002-6681-8230"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Paul Amayo","raw_affiliation_strings":["The Mobile Robotics Group, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"The Mobile Robotics Group, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073410897","display_name":"Pedro Pini\u00e9s","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pedro Pinies","raw_affiliation_strings":["The Mobile Robotics Group, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"The Mobile Robotics Group, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076707017","display_name":"Lina Mar\u00eda Paz","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lina M. Paz","raw_affiliation_strings":["The Mobile Robotics Group, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"The Mobile Robotics Group, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055299977","display_name":"Paul Newman","orcid":"https://orcid.org/0000-0001-6562-8454"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Paul Newman","raw_affiliation_strings":["The Mobile Robotics Group, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"The Mobile Robotics Group, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5048186982"],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05649803,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"36","issue":null,"first_page":"1339","last_page":"1345"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9998000264167786,"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":0.9995999932289124,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.998199999332428,"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/workspace","display_name":"Workspace","score":0.7730346918106079},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7435808181762695},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6615777015686035},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6444141268730164},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.6161158084869385},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5476762056350708},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5460675954818726},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5023345947265625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.469558984041214},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27918052673339844}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7730346918106079},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7435808181762695},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6615777015686035},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6444141268730164},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.6161158084869385},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5476762056350708},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5460675954818726},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5023345947265625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.469558984041214},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27918052673339844},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:dd8a43bf-e469-41f8-90f2-2cf508a85b59","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:dd8a43bf-e469-41f8-90f2-2cf508a85b59","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference item"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8399999737739563,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2483205037","display_name":null,"funder_award_id":"EP/M019918/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1592619852","https://openalex.org/W1656165940","https://openalex.org/W1977259876","https://openalex.org/W1996520948","https://openalex.org/W2064280431","https://openalex.org/W2070352439","https://openalex.org/W2080823437","https://openalex.org/W2085261163","https://openalex.org/W2112082021","https://openalex.org/W2118830119","https://openalex.org/W2143906193","https://openalex.org/W2144824356","https://openalex.org/W2148916113","https://openalex.org/W2161441681","https://openalex.org/W2218705109","https://openalex.org/W2296147781","https://openalex.org/W2750339080","https://openalex.org/W4243425824"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W2073535592"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,18,69,87,125],"about":[3],"discovering":[4],"and":[5,28,43,108,134,150],"leveraging":[6],"architectural":[7,37,129,148],"constraints":[8,38,130,149],"in":[9,29,45,50,141],"large":[10],"scale":[11],"3D":[12,78,162,190],"reconstructions":[13],"using":[14,187],"laser.":[15,114],"Our":[16],"contribution":[17],"to":[19,75,159,176],"offer":[20],"a":[21,30,59,77,119,161,177,182],"formulation":[22],"of":[23,36,55,80,99,164,171],"the":[24,34,53,81,89,94,100,113,165,169],"problem":[25,123],"which":[26,124,145],"naturally":[27],"unified":[31],"way,":[32],"captures":[33],"variety":[35],"that":[39,88,97],"can":[40,131],"be":[41,132],"discovered":[42,133],"applied":[44],"urban":[46],"reconstructions.":[47],"We":[48,137,167],"focus":[49],"particular":[51],"on":[52],"case":[54],"survey":[56,186],"construction":[57],"with":[58,71],"push":[60],"broom":[61],"laser":[62,191],"+":[63],"VO":[64],"system.":[65],"Here":[66],"visual":[67],"odometry":[68],"combined":[70],"vertical":[72],"2D":[73],"scans":[74],"create":[76],"picture":[79],"environment.":[82],"A":[83],"key":[84],"characteristic":[85],"here":[86],"sensors":[90],"pass/sweep":[91],"swiftly":[92],"through":[93],"environment":[95],"such":[96],"elements":[98],"scene":[101],"are":[102],"seen":[103],"only":[104],"briefly":[105],"by":[106,112,174,181],"cameras":[107],"scanned":[109],"just":[110],"once":[111],"These":[115],"qualities":[116],"make":[117],"for":[118],"an":[120,142,157],"ill-constrained":[121],"optimisation":[122,158],"greatly":[126],"aided":[127],"if":[128],"appropriately":[135],"applied.":[136],"demonstrate":[138],"our":[139],"approach":[140],"end-to-end":[143],"implementation":[144],"discovers":[146],"salient":[147],"rejects":[151],"false":[152],"loop":[153],"closures":[154],"before":[155],"invoking":[156],"return":[160],"model":[163,173],"workspace.":[166],"evaluate":[168],"precision":[170],"this":[172],"comparison":[175],"ground":[178],"truth":[179],"provided":[180],"3rd":[183],"party":[184],"professional":[185],"highend":[188],"(static)":[189],"scanners.":[192]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
