{"id":"https://openalex.org/W2901824367","doi":"https://doi.org/10.1109/icra.2019.8793503","title":"OVPC Mesh: 3D Free-space Representation for Local Ground Vehicle Navigation","display_name":"OVPC Mesh: 3D Free-space Representation for Local Ground Vehicle Navigation","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2901824367","doi":"https://doi.org/10.1109/icra.2019.8793503","mag":"2901824367"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793503","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1811.10266","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075177417","display_name":"Fabio Ruetz","orcid":"https://orcid.org/0000-0002-3277-3134"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Fabio Ruetz","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Switzerland","Autonomous Systems Lab, ETH, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021750625","display_name":"Emili Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-6143-6161"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Emili Hernandez","raw_affiliation_strings":["Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia","[Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia]"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia","institution_ids":["https://openalex.org/I42894916"]},{"raw_affiliation_string":"[Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia]","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040054567","display_name":"Mark G. Pfeiffer","orcid":"https://orcid.org/0000-0003-0276-324X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mark Pfeiffer","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Switzerland","Autonomous Systems Lab, ETH, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050090757","display_name":"Helen Oleynikova","orcid":"https://orcid.org/0000-0002-1831-2315"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Helen Oleynikova","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Switzerland","Autonomous Systems Lab, ETH, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070985746","display_name":"Mark Cox","orcid":"https://orcid.org/0000-0002-8269-7918"},"institutions":[{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Mark Cox","raw_affiliation_strings":["Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia","[Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia]"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia","institution_ids":["https://openalex.org/I42894916"]},{"raw_affiliation_string":"[Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia]","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046964482","display_name":"Thomas L\u00f6we","orcid":"https://orcid.org/0000-0001-8932-018X"},"institutions":[{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thomas Lowe","raw_affiliation_strings":["Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia","[Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia]"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia","institution_ids":["https://openalex.org/I42894916"]},{"raw_affiliation_string":"[Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia]","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027373455","display_name":"Paulo Borges","orcid":"https://orcid.org/0000-0001-8137-7245"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Paulo Borges","raw_affiliation_strings":["Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia","[Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia]"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia","institution_ids":["https://openalex.org/I42894916"]},{"raw_affiliation_string":"[Robotics and Autonomous Systems, Data61, CSIRO, Brisbane, Australia]","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5075177417"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.1022,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4012331,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"8648","last_page":"8654"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9914000034332275,"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":0.7738661766052246},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6919809579849243},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.6685627102851868},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.615991473197937},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5601419806480408},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5416742563247681},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5166197419166565},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5060147643089294},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.4646890163421631},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4523778557777405},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.45122355222702026},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43485501408576965},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4346323609352112},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42679399251937866},{"id":"https://openalex.org/keywords/ray-casting","display_name":"Ray casting","score":0.4172337055206299},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3765949308872223},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.17208132147789001},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1306709349155426},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09816291928291321}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7738661766052246},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6919809579849243},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.6685627102851868},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.615991473197937},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5601419806480408},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5416742563247681},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5166197419166565},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5060147643089294},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.4646890163421631},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4523778557777405},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.45122355222702026},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43485501408576965},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4346323609352112},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42679399251937866},{"id":"https://openalex.org/C116108083","wikidata":"https://www.wikidata.org/wiki/Q1940131","display_name":"Ray casting","level":4,"score":0.4172337055206299},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3765949308872223},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.17208132147789001},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1306709349155426},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09816291928291321},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C30769735","wikidata":"https://www.wikidata.org/wiki/Q2165951","display_name":"Volume rendering","level":3,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2019.8793503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793503","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1811.10266","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1811.10266","pdf_url":"https://arxiv.org/pdf/1811.10266","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2901824367","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/1811.10266.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1811.10266","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1811.10266","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1811.10266","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1811.10266","pdf_url":"https://arxiv.org/pdf/1811.10266","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6700000166893005,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2901824367.pdf","grobid_xml":"https://content.openalex.org/works/W2901824367.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1972267259","https://openalex.org/W2021096542","https://openalex.org/W2071067499","https://openalex.org/W2074658631","https://openalex.org/W2110762409","https://openalex.org/W2113755254","https://openalex.org/W2116764847","https://openalex.org/W2132563333","https://openalex.org/W2133844819","https://openalex.org/W2141664020","https://openalex.org/W2143220699","https://openalex.org/W2145362486","https://openalex.org/W2152864241","https://openalex.org/W2213648495","https://openalex.org/W2471969791","https://openalex.org/W2543128274","https://openalex.org/W2600201730","https://openalex.org/W2607968634","https://openalex.org/W2809054577","https://openalex.org/W2901136733","https://openalex.org/W2910925829","https://openalex.org/W2949691147","https://openalex.org/W3102129812","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2968879799","https://openalex.org/W2369796141","https://openalex.org/W3145452433","https://openalex.org/W3103192159","https://openalex.org/W2047260835","https://openalex.org/W2145364790","https://openalex.org/W3174235034","https://openalex.org/W2111161219","https://openalex.org/W2123824069","https://openalex.org/W3146053359","https://openalex.org/W2516491062","https://openalex.org/W2969246993","https://openalex.org/W3044358537","https://openalex.org/W2159711224","https://openalex.org/W3098488333","https://openalex.org/W2726894975","https://openalex.org/W3129693044","https://openalex.org/W2024139303","https://openalex.org/W2285611169","https://openalex.org/W2135896224"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,35,57,66,82,105],"novel":[4],"approach":[5,27,93,114],"for":[6,11,94,136],"local":[7,41],"3D":[8,37,134],"environment":[9,80],"representation":[10,70],"autonomous":[12],"unmanned":[13],"ground":[14],"vehicle":[15],"(UGV)":[16],"navigation":[17,96],"called":[18],"On":[19],"Visible":[20],"Point":[21],"Clouds":[22],"Mesh":[23,130],"(OVPC":[24],"Mesh).":[25],"Our":[26,86],"represents":[28],"the":[29,32,49,53,61,79,89,92],"surrounding":[30,52],"of":[31,60,91],"robot":[33],"as":[34,121],"watertight":[36],"mesh":[38],"generated":[39],"from":[40],"point":[42],"cloud":[43],"data":[44],"in":[45,97,101,104],"order":[46],"to":[47,77,115],"represent":[48],"free":[50,62],"space":[51,63],"robot.":[54],"It":[55],"is":[56],"conservative":[58],"estimation":[59],"and":[64,72,103,123,126],"provides":[65],"desirable":[67],"trade-off":[68],"between":[69],"precision":[71],"computational":[73],"efficiency,":[74],"without":[75],"having":[76],"discretize":[78],"into":[81],"fixed":[83],"grid":[84],"size.":[85],"experiments":[87],"analyze":[88],"usability":[90],"UGV":[95],"rough":[98],"terrain,":[99],"both":[100],"simulation":[102],"fully":[106],"integrated":[107],"real-world":[108],"system.":[109],"Additionally,":[110],"we":[111],"compare":[112],"our":[113],"well-known":[116],"state-of":[117],"the-art":[118],"solutions,":[119],"such":[120],"Octomap":[122],"Elevation":[124],"Mapping":[125],"show":[127],"that":[128],"OVPC":[129],"can":[131],"provide":[132],"reliable":[133],"information":[135],"trajectory":[137],"planning":[138],"while":[139],"fulfilling":[140],"real-time":[141],"constraints.":[142]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
