{"id":"https://openalex.org/W3089877798","doi":"https://doi.org/10.1109/icra40945.2020.9197325","title":"Real-Time Graph-Based SLAM with Occupancy Normal Distributions Transforms","display_name":"Real-Time Graph-Based SLAM with Occupancy Normal Distributions Transforms","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089877798","doi":"https://doi.org/10.1109/icra40945.2020.9197325","mag":"3089877798"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197325","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197325","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5071201380","display_name":"Cornelia Schulz","orcid":null},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Cornelia Schulz","raw_affiliation_strings":["Cognitive Systems Group at the Computer Science Department, University of Tubingen, Tubingen, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitive Systems Group at the Computer Science Department, University of Tubingen, Tubingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004958444","display_name":"Andreas Zell","orcid":"https://orcid.org/0000-0003-3299-2211"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Zell","raw_affiliation_strings":["Cognitive Systems Group at the Computer Science Department, University of Tubingen, Tubingen, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitive Systems Group at the Computer Science Department, University of Tubingen, Tubingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5071201380"],"corresponding_institution_ids":["https://openalex.org/I8087733"],"apc_list":null,"apc_paid":null,"fwci":20.4302,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.98746275,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3106","last_page":"3111"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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/T12288","display_name":"Optimization and Search Problems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.9540157318115234},{"id":"https://openalex.org/keywords/nondestructive-testing","display_name":"Nondestructive testing","score":0.7135491371154785},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.63025963306427},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5505033135414124},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.5374982357025146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.535022497177124},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5295895934104919},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4823295772075653},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.46194180846214294},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4588923752307892},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4466872811317444},{"id":"https://openalex.org/keywords/matching-pursuit","display_name":"Matching pursuit","score":0.4104751646518707},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40178659558296204},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36492741107940674},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.35832542181015015},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25877392292022705},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2504379153251648},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16614747047424316},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1395832896232605},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07732927799224854},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06874844431877136}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.9540157318115234},{"id":"https://openalex.org/C56529433","wikidata":"https://www.wikidata.org/wiki/Q626700","display_name":"Nondestructive testing","level":2,"score":0.7135491371154785},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.63025963306427},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5505033135414124},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.5374982357025146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.535022497177124},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5295895934104919},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4823295772075653},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.46194180846214294},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4588923752307892},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4466872811317444},{"id":"https://openalex.org/C156872377","wikidata":"https://www.wikidata.org/wiki/Q6786281","display_name":"Matching pursuit","level":3,"score":0.4104751646518707},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40178659558296204},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36492741107940674},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35832542181015015},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25877392292022705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2504379153251648},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16614747047424316},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1395832896232605},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07732927799224854},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06874844431877136},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C124851039","wikidata":"https://www.wikidata.org/wiki/Q2665459","display_name":"Compressed sensing","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197325","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197325","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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":19,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1983043788","https://openalex.org/W2005389775","https://openalex.org/W2012502415","https://openalex.org/W2027438599","https://openalex.org/W2032026274","https://openalex.org/W2040168207","https://openalex.org/W2053850238","https://openalex.org/W2064182365","https://openalex.org/W2068303195","https://openalex.org/W2112449769","https://openalex.org/W2131439959","https://openalex.org/W2140881794","https://openalex.org/W2150981915","https://openalex.org/W2411093439","https://openalex.org/W2909599268","https://openalex.org/W2945291367","https://openalex.org/W4231236310","https://openalex.org/W7033622795"],"related_works":["https://openalex.org/W1995188412","https://openalex.org/W2786306966","https://openalex.org/W2058063222","https://openalex.org/W2734306012","https://openalex.org/W2672717706","https://openalex.org/W2163622079","https://openalex.org/W3021084886","https://openalex.org/W3163290664","https://openalex.org/W2134943711","https://openalex.org/W2028864324"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,27,70,91],"Mapping":[3],"(SLAM)":[4],"is":[5],"one":[6],"of":[7],"the":[8,50,98],"basic":[9],"problems":[10],"in":[11],"mobile":[12],"robotics.":[13],"While":[14],"most":[15],"approaches":[16],"are":[17,94],"based":[18,102],"on":[19],"occupancy":[20,99],"grid":[21,100],"maps,":[22],"Normal":[23,31],"Distributions":[24],"Transforms":[25,33],"(NDT)":[26],"mixtures":[28],"like":[29],"Occupancy":[30],"Distribution":[32],"(ONDT)":[34],"have":[35],"been":[36],"shown":[37],"to":[38,96],"represent":[39],"sensor":[40],"measurements":[41],"more":[42],"accurately.":[43],"In":[44,86],"this":[45],"work,":[46],"we":[47,75,104],"slightly":[48],"re-formulate":[49],"(O)NDT":[51,80],"matching":[52],"function":[53],"such":[54],"that":[55,62],"it":[56],"becomes":[57],"a":[58,77],"least":[59],"squares":[60],"problem":[61],"can":[63],"be":[64],"solved":[65],"with":[66],"various":[67],"robust":[68],"numerical":[69],"analytical":[71],"non-linear":[72],"optimizers.":[73],"Further,":[74],"propose":[76],"novel":[78],"global":[79],"scan":[81],"matcher":[82],"for":[83],"loop":[84],"closure.":[85],"our":[87,89],"evaluation,":[88],"NDT":[90],"ONDT":[92],"methods":[93],"able":[95],"outperform":[97],"map":[101],"ones":[103],"adopted":[105],"from":[106],"Google's":[107],"Cartographer":[108],"implementation.":[109]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-16T09:10:04.655348","created_date":"2025-10-10T00:00:00"}