{"id":"https://openalex.org/W2891999065","doi":"https://doi.org/10.1109/icra.2018.8461227","title":"A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry","display_name":"A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2891999065","doi":"https://doi.org/10.1109/icra.2018.8461227","mag":"2891999065"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8461227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-67850","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044454108","display_name":"Daniel Ric\u00e3o Canelhas","orcid":"https://orcid.org/0000-0001-7035-5710"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Daniel Ricao Canelhas","raw_affiliation_strings":["Univrses AB, Sweden"],"affiliations":[{"raw_affiliation_string":"Univrses AB, Sweden","institution_ids":[]}]},{"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":["Center of Applied Autonomous Sensor Systems (AASS), Orebro University, Sweden"],"affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), Orebro University, 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":["Center of Applied Autonomous Sensor Systems (AASS), Orebro University, Sweden"],"affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), Orebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5044454108"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.4181,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.97344053,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3637","last_page":"3643"},"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":0.9997000098228455,"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/T10638","display_name":"Optical measurement and interference techniques","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"}}],"keywords":[{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.8223350644111633},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.7810239791870117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6931898593902588},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.66523277759552},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6556198596954346},{"id":"https://openalex.org/keywords/trilinear-interpolation","display_name":"Trilinear interpolation","score":0.550922155380249},{"id":"https://openalex.org/keywords/image-scaling","display_name":"Image scaling","score":0.4863637089729309},{"id":"https://openalex.org/keywords/stairstep-interpolation","display_name":"Stairstep interpolation","score":0.4656689167022705},{"id":"https://openalex.org/keywords/nearest-neighbor-interpolation","display_name":"Nearest-neighbor interpolation","score":0.4337748885154724},{"id":"https://openalex.org/keywords/bicubic-interpolation","display_name":"Bicubic interpolation","score":0.41947680711746216},{"id":"https://openalex.org/keywords/multivariate-interpolation","display_name":"Multivariate interpolation","score":0.39971256256103516},{"id":"https://openalex.org/keywords/bilinear-interpolation","display_name":"Bilinear interpolation","score":0.2518661618232727},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2112133502960205},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.12631848454475403}],"concepts":[{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.8223350644111633},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.7810239791870117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6931898593902588},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.66523277759552},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6556198596954346},{"id":"https://openalex.org/C188325010","wikidata":"https://www.wikidata.org/wiki/Q861176","display_name":"Trilinear interpolation","level":4,"score":0.550922155380249},{"id":"https://openalex.org/C27405340","wikidata":"https://www.wikidata.org/wiki/Q440296","display_name":"Image scaling","level":4,"score":0.4863637089729309},{"id":"https://openalex.org/C119768884","wikidata":"https://www.wikidata.org/wiki/Q7597108","display_name":"Stairstep interpolation","level":4,"score":0.4656689167022705},{"id":"https://openalex.org/C207214200","wikidata":"https://www.wikidata.org/wiki/Q4202129","display_name":"Nearest-neighbor interpolation","level":4,"score":0.4337748885154724},{"id":"https://openalex.org/C49608258","wikidata":"https://www.wikidata.org/wiki/Q611705","display_name":"Bicubic interpolation","level":4,"score":0.41947680711746216},{"id":"https://openalex.org/C203332170","wikidata":"https://www.wikidata.org/wiki/Q6334079","display_name":"Multivariate interpolation","level":3,"score":0.39971256256103516},{"id":"https://openalex.org/C205203396","wikidata":"https://www.wikidata.org/wiki/Q612143","display_name":"Bilinear interpolation","level":2,"score":0.2518661618232727},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2112133502960205},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.12631848454475403}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2018.8461227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:oru-67850","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-67850","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:oru-67850","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-67850","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W194230875","https://openalex.org/W1519865121","https://openalex.org/W1650975994","https://openalex.org/W1716229439","https://openalex.org/W1920022804","https://openalex.org/W1969291828","https://openalex.org/W1972978214","https://openalex.org/W1987648924","https://openalex.org/W1989943925","https://openalex.org/W1993244675","https://openalex.org/W2009422376","https://openalex.org/W2021851106","https://openalex.org/W2037370213","https://openalex.org/W2068693617","https://openalex.org/W2076095332","https://openalex.org/W2143769815","https://openalex.org/W2243794092","https://openalex.org/W2313927544","https://openalex.org/W2336961836","https://openalex.org/W2558381884","https://openalex.org/W4252201060","https://openalex.org/W6607902920","https://openalex.org/W6630280835","https://openalex.org/W6637636807","https://openalex.org/W6640300118","https://openalex.org/W6656063324","https://openalex.org/W6690453576"],"related_works":["https://openalex.org/W2352808182","https://openalex.org/W2553003891","https://openalex.org/W2036543038","https://openalex.org/W2359865259","https://openalex.org/W2355602298","https://openalex.org/W2062947881","https://openalex.org/W2356755329","https://openalex.org/W2382426030","https://openalex.org/W2129292412","https://openalex.org/W2018318601"],"abstract_inverted_index":{"Voxel":[0],"volumes":[1],"are":[2],"simple":[3],"to":[4,9,29,104,124,132,141,152],"implement":[5],"and":[6,14,44,65,95,112],"lend":[7],"themselves":[8],"many":[10],"of":[11,24,68,77,98,121,176],"the":[12,21,42,51,69,89,96,119,126,133],"tools":[13],"algorithms":[15],"available":[16],"for":[17,81],"2D":[18],"images.":[19],"However,":[20],"additional":[22],"dimension":[23],"voxels":[25,164],"may":[26,160],"be":[27,161],"costly":[28],"manage":[30],"in":[31,50,129,173],"memory":[32],"when":[33],"mapping":[34,113],"large":[35],"spaces":[36],"at":[37],"high":[38],"resolutions.":[39],"While":[40],"lowering":[41,118],"resolution":[43],"using":[45,99],"interpolation":[46,61,79,106,127,137],"is":[47],"common":[48],"work-around,":[49],"literature":[52],"we":[53,87],"often":[54],"find":[55,116],"that":[56,117,147],"authors":[57],"either":[58],"use":[59],"trilinear":[60,136],"or":[62],"nearest":[63],"neighbors":[64],"rarely":[66],"any":[67],"intermediate":[70],"options.":[71],"This":[72],"paper":[73],"presents":[74],"a":[75,108],"survey":[76],"geometric":[78],"methods":[80],"voxel-based":[82],"map":[83],"representations.":[84],"In":[85],"particular":[86],"study":[88],"truncated":[90],"signed":[91],"distance":[92],"field":[93],"(TSDF)":[94],"impact":[97],"fewer":[100],"than":[101],"8":[102],"samples":[103,122],"perform":[105,125],"within":[107],"depth-camera":[109],"pose":[110],"tracking":[111],"scenario.":[114],"We":[115,144],"number":[120],"fetched":[123],"results":[128],"performance":[130,153],"similar":[131],"commonly":[134],"used":[135],"method,":[138],"but":[139],"leads":[140,151],"higher":[142],"frame-rates.":[143],"also":[145],"report":[146],"lower":[148],"bit-depth":[149],"generally":[150],"degradation,":[154],"though":[155],"not":[156],"as":[157,159,166,168],"much":[158],"expected,":[162],"with":[163],"containing":[165],"few":[167],"3":[169],"bits":[170],"sometimes":[171],"resulting":[172],"adequate":[174],"estimation":[175],"camera":[177],"trajectories.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}