{"id":"https://openalex.org/W3207253575","doi":"https://doi.org/10.1109/icra48506.2021.9561921","title":"Efficient SE(3) Reachability Map Generation via Interplanar Integration of Intra-planar Convolutions","display_name":"Efficient SE(3) Reachability Map Generation via Interplanar Integration of Intra-planar Convolutions","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207253575","doi":"https://doi.org/10.1109/icra48506.2021.9561921","mag":"3207253575"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5035402576","display_name":"Yiheng Han","orcid":"https://orcid.org/0000-0002-3986-7555"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yiheng Han","raw_affiliation_strings":["BNRist, MOE-Key Laboratory of Pervasive Computing, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"BNRist, MOE-Key Laboratory of Pervasive Computing, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076812698","display_name":"Jia Pan","orcid":"https://orcid.org/0000-0001-9003-2054"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jia Pan","raw_affiliation_strings":["The University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030085407","display_name":"Mengfei Xia","orcid":"https://orcid.org/0000-0002-8765-815X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengfei Xia","raw_affiliation_strings":["BNRist, MOE-Key Laboratory of Pervasive Computing, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"BNRist, MOE-Key Laboratory of Pervasive Computing, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029947227","display_name":"Long Zeng","orcid":"https://orcid.org/0000-0001-8512-8836"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Zeng","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008076279","display_name":"Yong\u2010Jin Liu","orcid":"https://orcid.org/0000-0001-5774-1916"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong-Jin Liu","raw_affiliation_strings":["BNRist, MOE-Key Laboratory of Pervasive Computing, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"BNRist, MOE-Key Laboratory of Pervasive Computing, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5035402576"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.4803,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.65504902,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1854","last_page":"1860"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/reachability","display_name":"Reachability","score":0.8402230739593506},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7291682958602905},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6839925646781921},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.6759791374206543},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6717944741249084},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6112462282180786},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6061913967132568},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.44114792346954346},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.42633748054504395},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42489826679229736},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.4159132242202759},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.404374897480011},{"id":"https://openalex.org/keywords/computational-science","display_name":"Computational science","score":0.36161789298057556},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.33000338077545166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25738266110420227},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18673434853553772},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.13416340947151184},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.10999402403831482}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.8402230739593506},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7291682958602905},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6839925646781921},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.6759791374206543},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6717944741249084},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6112462282180786},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6061913967132568},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.44114792346954346},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.42633748054504395},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42489826679229736},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.4159132242202759},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.404374897480011},{"id":"https://openalex.org/C459310","wikidata":"https://www.wikidata.org/wiki/Q117801","display_name":"Computational science","level":1,"score":0.36161789298057556},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.33000338077545166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25738266110420227},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18673434853553772},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.13416340947151184},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.10999402403831482},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1551889375","https://openalex.org/W1977418457","https://openalex.org/W1985824860","https://openalex.org/W2011772686","https://openalex.org/W2030929340","https://openalex.org/W2038590856","https://openalex.org/W2056653204","https://openalex.org/W2087926650","https://openalex.org/W2104899284","https://openalex.org/W2110762409","https://openalex.org/W2150752773","https://openalex.org/W2157357823","https://openalex.org/W2161096607","https://openalex.org/W2176690447","https://openalex.org/W2200154514","https://openalex.org/W2301314832","https://openalex.org/W2399918254","https://openalex.org/W2737549427","https://openalex.org/W2783227766","https://openalex.org/W2952110468","https://openalex.org/W6632949807","https://openalex.org/W6741247073"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2371519816","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2143461633","https://openalex.org/W2329043542"],"abstract_inverted_index":{"Convolution":[0],"has":[1,12],"been":[2],"used":[3],"for":[4,21,47,118,136],"fast":[5],"computation":[6,100],"of":[7,64,78,109,115],"reachability":[8,76,120,134],"maps,":[9],"but":[10],"it":[11],"high":[13],"computational":[14,71],"costs":[15],"when":[16,73],"performing":[17],"SE(3)":[18,56],"convolution":[19,57],"operations":[20],"general":[22],"joint":[23],"arrangements":[24,46],"in":[25,82],"industrial":[26],"robots":[27,42],"and":[28,92,107,122,140],"3D":[29,84],"workspace.":[30,85],"Its":[31],"application":[32],"is":[33],"also":[34,87,123],"limited":[35],"to":[36,96],"planar":[37],"robots,":[38],"2D":[39],"workspace,":[40],"or":[41],"with":[43],"special":[44],"spatial":[45],"joints.":[48],"In":[49],"this":[50],"paper,":[51],"we":[52],"find":[53],"that":[54,130],"the":[55,70,75,83,99,104,132],"can":[58],"be":[59],"decomposed":[60],"into":[61],"a":[62,113,125],"set":[63,114],"SE(2)":[65],"convolutions,":[66],"which":[67],"significantly":[68],"reduces":[69],"complexity":[72],"computing":[74,91],"map":[77,135],"high-DOF":[79],"robotic":[80],"manipulators":[81],"We":[86,102],"leverage":[88],"GPU":[89],"parallel":[90],"Fast":[93],"Fourier":[94],"transform":[95],"further":[97],"accelerate":[98],"procedure.":[101],"demonstrate":[103],"time":[105],"efficiency":[106],"quality":[108],"our":[110],"approach":[111],"using":[112],"numerical":[116],"experiments":[117],"constructing":[119],"maps":[121],"present":[124],"multi-robot":[126],"plant":[127],"phenotyping":[128],"system":[129],"uses":[131],"computed":[133],"efficient":[137],"viewpoint":[138],"selection":[139],"path":[141],"planning.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}