{"id":"https://openalex.org/W4221147080","doi":"https://doi.org/10.1109/icra46639.2022.9812205","title":"Efficient and Robust Semantic Mapping for Indoor Environments","display_name":"Efficient and Robust Semantic Mapping for Indoor Environments","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4221147080","doi":"https://doi.org/10.1109/icra46639.2022.9812205"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812205","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2203.05836","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077353311","display_name":"Daniel Seichter","orcid":"https://orcid.org/0000-0002-3828-2926"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Daniel Seichter","raw_affiliation_strings":["Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693"],"raw_orcid":"https://orcid.org/0000-0002-3828-2926","affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Patrick Langer","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patrick Langer","raw_affiliation_strings":["Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036688169","display_name":"Tim Wengefeld","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim Wengefeld","raw_affiliation_strings":["Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079049282","display_name":"Benjamin Lewandowski","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benjamin Lewandowski","raw_affiliation_strings":["Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074413991","display_name":"Dominik Hoechemer","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dominik Hochemer","raw_affiliation_strings":["Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075114390","display_name":"Horst\u2013Michael Gro\u00df","orcid":"https://orcid.org/0000-0001-9712-0225"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Horst-Michael Gross","raw_affiliation_strings":["Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t Ilmenau,Neuroinformatics and Cognitive Robotics Lab,Ilmenau,Germany,98693","institution_ids":["https://openalex.org/I119449181"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5077353311"],"corresponding_institution_ids":["https://openalex.org/I119449181"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03629579,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9221","last_page":"9227"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9240999817848206,"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":0.9240999817848206,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.021299999207258224,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10036","display_name":"Advanced Neural Network Applications","score":0.009700000286102295,"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":0.7579705715179443},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.6797336339950562},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.6207031011581421},{"id":"https://openalex.org/keywords/semantic-grid","display_name":"Semantic grid","score":0.6175445914268494},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.530514657497406},{"id":"https://openalex.org/keywords/semantic-heterogeneity","display_name":"Semantic heterogeneity","score":0.47319504618644714},{"id":"https://openalex.org/keywords/semantic-computing","display_name":"Semantic computing","score":0.46490347385406494},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.4387189745903015},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.437843918800354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42958033084869385},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.427929162979126},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4187168776988983},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3596729338169098},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3332204818725586},{"id":"https://openalex.org/keywords/semantic-web","display_name":"Semantic Web","score":0.18074437975883484},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09457683563232422},{"id":"https://openalex.org/keywords/ontology-based-data-integration","display_name":"Ontology-based data integration","score":0.09131905436515808}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7579705715179443},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.6797336339950562},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.6207031011581421},{"id":"https://openalex.org/C103692084","wikidata":"https://www.wikidata.org/wiki/Q1765824","display_name":"Semantic grid","level":3,"score":0.6175445914268494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.530514657497406},{"id":"https://openalex.org/C2778180026","wikidata":"https://www.wikidata.org/wiki/Q18378163","display_name":"Semantic heterogeneity","level":4,"score":0.47319504618644714},{"id":"https://openalex.org/C511149849","wikidata":"https://www.wikidata.org/wiki/Q7449051","display_name":"Semantic computing","level":3,"score":0.46490347385406494},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.4387189745903015},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.437843918800354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42958033084869385},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.427929162979126},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4187168776988983},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3596729338169098},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3332204818725586},{"id":"https://openalex.org/C2129575","wikidata":"https://www.wikidata.org/wiki/Q54837","display_name":"Semantic Web","level":2,"score":0.18074437975883484},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09457683563232422},{"id":"https://openalex.org/C22550185","wikidata":"https://www.wikidata.org/wiki/Q7095047","display_name":"Ontology-based data integration","level":3,"score":0.09131905436515808},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra46639.2022.9812205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812205","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2203.05836","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.05836","pdf_url":"https://arxiv.org/pdf/2203.05836","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":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2203.05836","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2203.05836","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:2203.05836","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.05836","pdf_url":"https://arxiv.org/pdf/2203.05836","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":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7541444106","display_name":null,"funder_award_id":"16SV8426","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"}],"funders":[{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4221147080.pdf","grobid_xml":"https://content.openalex.org/works/W4221147080.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1923184257","https://openalex.org/W2009422376","https://openalex.org/W2037341500","https://openalex.org/W2071906076","https://openalex.org/W2131439959","https://openalex.org/W2133123543","https://openalex.org/W2133844819","https://openalex.org/W2216954285","https://openalex.org/W2410641873","https://openalex.org/W2523049145","https://openalex.org/W2563462039","https://openalex.org/W2594519801","https://openalex.org/W2738569225","https://openalex.org/W2762439315","https://openalex.org/W2774861278","https://openalex.org/W2898231767","https://openalex.org/W2898566519","https://openalex.org/W2963632154","https://openalex.org/W2964032623","https://openalex.org/W2964239644","https://openalex.org/W2968214893","https://openalex.org/W2973181288","https://openalex.org/W3004300126","https://openalex.org/W3097660860","https://openalex.org/W3207537403","https://openalex.org/W6605121731","https://openalex.org/W6683714418","https://openalex.org/W6740277193"],"related_works":["https://openalex.org/W819000","https://openalex.org/W1311823","https://openalex.org/W784242","https://openalex.org/W9091133","https://openalex.org/W1137768","https://openalex.org/W9688470","https://openalex.org/W8344810","https://openalex.org/W327265","https://openalex.org/W10294673","https://openalex.org/W1427313"],"abstract_inverted_index":{"A":[0],"key":[1],"proficiency":[2],"an":[3,146],"autonomous":[4],"mobile":[5,79,102],"robot":[6],"must":[7],"have":[8],"to":[9,96,114,123,129,145,163,173,190],"perform":[10,183],"high-level":[11],"tasks":[12],"is":[13,49,73,171,188],"a":[14,55,210],"strong":[15],"understanding":[16],"of":[17,26,149,167,202],"its":[18],"environment.":[19],"This":[20],"involves":[21],"information":[22,45,87],"about":[23,46],"what":[24,33],"types":[25],"objects":[27],"are":[28,54,121],"present,":[29],"where":[30],"they":[31,40,182],"are,":[32],"their":[34,115],"spatial":[35,71,140],"extend":[36],"is,":[37],"and":[38,65,137,144],"how":[39],"can":[41,160],"be":[42],"reached,":[43],"i.e.,":[44],"free":[47],"space":[48],"also":[50],"crucial.":[51],"Semantic":[52],"maps":[53,68,95,120,159,205],"powerful":[56],"instrument":[57],"providing":[58],"such":[59],"information.":[60],"However,":[61],"applying":[62],"semantic":[63,86,99,118,138,157,203],"segmentation":[64],"building":[66],"3D":[67],"with":[69,206],"high":[70],"resolution":[72],"challenging":[74],"given":[75],"limited":[76],"resources":[77],"on":[78,101,135],"robots.":[80,103],"In":[81],"this":[82,153],"paper,":[83],"we":[84,110,197],"incorporate":[85],"into":[88],"efficient":[89],"occupancy":[90],"normal":[91],"distribution":[92],"transform":[93],"(NDT)":[94],"enable":[97],"real-time":[98],"mapping":[100,170,187],"On":[104],"the":[105,130,164,178,199],"publicly":[106],"available":[107],"dataset":[108],"Hypersim,":[109],"show":[111],"that,":[112],"due":[113],"sub-voxel":[116],"accuracy,":[117],"NDT":[119,158,204],"superior":[122],"other":[124],"approaches.":[125],"We":[126],"compare":[127],"them":[128],"recent":[131],"state-of-the-art":[132],"approach":[133],"based":[134],"voxels":[136],"Bayesian":[139],"kernel":[141],"inference":[142],"(S-BKI)":[143],"optimized":[147],"version":[148],"it":[150],"derived":[151],"in":[152,209],"paper.":[154],"The":[155],"proposed":[156],"represent":[161],"semantics":[162],"same":[165,179],"level":[166],"detail,":[168],"while":[169,186],"2.7":[172],"17.5":[174],"times":[175,194],"faster.":[176,195],"For":[177],"grid":[180],"resolution,":[181],"significantly":[184],"better,":[185],"up":[189],"more":[191],"than":[192],"5":[193],"Finally,":[196],"prove":[198],"real-world":[200],"applicability":[201],"qualitative":[207],"results":[208],"domestic":[211],"application.":[212]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2022-04-03T00:00:00"}
