{"id":"https://openalex.org/W2129921936","doi":"https://doi.org/10.1109/iros.2009.5354277","title":"3D mapping for urban service robots","display_name":"3D mapping for urban service robots","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2129921936","doi":"https://doi.org/10.1109/iros.2009.5354277","mag":"2129921936"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/2117/6935","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036852168","display_name":"Rafael Valencia","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"R. Valencia","raw_affiliation_strings":["Institut de Rob\u00f3tica i Inform\u00e0tica Industrial, CSIC UPC, Barcelona, Spain","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, Barcelona 08028, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f3tica i Inform\u00e0tica Industrial, CSIC UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, Barcelona 08028, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083112650","display_name":"Ernesto H. Teniente","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"E.H. Teniente","raw_affiliation_strings":["Institut de Rob\u00f3tica i Inform\u00e0tica Industrial, CSIC UPC, Barcelona, Spain","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, Barcelona 08028, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f3tica i Inform\u00e0tica Industrial, CSIC UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, Barcelona 08028, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049610895","display_name":"Eduard Trulls","orcid":"https://orcid.org/0000-0002-1425-7881"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"E. Trulls","raw_affiliation_strings":["Institut de Rob\u00f3tica i Inform\u00e0tica Industrial, CSIC UPC, Barcelona, Spain","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, Barcelona 08028, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f3tica i Inform\u00e0tica Industrial, CSIC UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, Barcelona 08028, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039307249","display_name":"Juan Andrade\u2010Cetto","orcid":"https://orcid.org/0000-0002-6354-8941"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Andrade-Cetto","raw_affiliation_strings":["Institut de Rob\u00f3tica i Inform\u00e0tica Industrial, CSIC UPC, Barcelona, Spain","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, Barcelona 08028, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f3tica i Inform\u00e0tica Industrial, CSIC UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, Barcelona 08028, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3076","last_page":"3081"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.996999979019165,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8366744518280029},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7103179693222046},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.6935023069381714},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6744543313980103},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6303743124008179},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.61634361743927},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5937967300415039},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5815927386283875},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.5634753108024597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5534654259681702},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.541447639465332},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.4692535102367401},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.46821072697639465},{"id":"https://openalex.org/keywords/cad","display_name":"CAD","score":0.44305747747421265},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.440601110458374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12004214525222778},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11539322137832642},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.08717954158782959}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8366744518280029},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7103179693222046},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.6935023069381714},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6744543313980103},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6303743124008179},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.61634361743927},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5937967300415039},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5815927386283875},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.5634753108024597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5534654259681702},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.541447639465332},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.4692535102367401},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.46821072697639465},{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.44305747747421265},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.440601110458374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12004214525222778},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11539322137832642},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.08717954158782959},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2009.5354277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:upcommons.upc.edu:2117/6935","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/6935","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},{"id":"pmh:oai:www.recercat.cat:2072/187833","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/6935","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.307.3905","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.307.3905","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iri.upc.edu/download/scidoc/1037/","raw_type":"text"},{"id":"pmh:oai:digital.csic.es:10261/30112","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/30112","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"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":"","raw_type":"Comunicaci\u00f3n de congreso"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/6935","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/6935","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8399999737739563,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W107596469","https://openalex.org/W973758117","https://openalex.org/W2049981393","https://openalex.org/W2071158641","https://openalex.org/W2071866949","https://openalex.org/W2101345862","https://openalex.org/W2106692695","https://openalex.org/W2119851068","https://openalex.org/W2124123377","https://openalex.org/W2137052305","https://openalex.org/W2148228392","https://openalex.org/W2167797964","https://openalex.org/W2169194538","https://openalex.org/W2173782939","https://openalex.org/W2527352274","https://openalex.org/W2913759905","https://openalex.org/W4229613275","https://openalex.org/W6625329261","https://openalex.org/W6668499198","https://openalex.org/W6685072645","https://openalex.org/W6727649095"],"related_works":["https://openalex.org/W2091861768","https://openalex.org/W2813834476","https://openalex.org/W2088131065","https://openalex.org/W2005998065","https://openalex.org/W4391129294","https://openalex.org/W3016861202","https://openalex.org/W2001220299","https://openalex.org/W4323518558","https://openalex.org/W3196715007","https://openalex.org/W4399030596"],"abstract_inverted_index":{"We":[0],"present":[1],"an":[2],"approach":[3,114],"to":[4,100,115,122],"the":[5,23,32,60,73,106],"problem":[6],"of":[7,35,51,62,72,105],"3D":[8,36,86,116],"map":[9],"building":[10],"in":[11],"urban":[12,139],"settings":[13],"for":[14,45],"service":[15,129],"robots,":[16],"using":[17],"three-dimensional":[18],"laser":[19],"range":[20,64,87],"scans":[21],"as":[22],"main":[24],"data":[25,65],"input.":[26],"Our":[27,95],"system":[28],"is":[29],"based":[30],"on":[31,137],"probabilistic":[33],"alignment":[34,61],"point":[37,66,76],"clouds":[38,67],"employing":[39],"a":[40,70,91,101,138],"delayed-state":[41],"information-form":[42],"SLAM":[43],"algorithm,":[44],"which":[46],"we":[47],"can":[48],"add":[49],"observations":[50,57],"relative":[52],"robot":[53,93],"displacements":[54],"efficiently.":[55],"These":[56],"come":[58],"from":[59],"dense":[63],"computed":[68],"with":[69,82,119],"variant":[71],"iterative":[74],"closest":[75],"algorithm.":[77],"The":[78,109],"datasets":[79],"were":[80],"acquired":[81],"our":[83,113,128],"custom":[84],"built":[85],"scanner":[88],"integrated":[89],"into":[90],"mobile":[92],"platform.":[94],"mapping":[96,117],"results":[97,110],"are":[98],"compared":[99],"GIS-based":[102],"CAD":[103],"model":[104],"experimental":[107],"site.":[108],"show":[111],"that":[112,126],"performs":[118],"sufficient":[120],"accuracy":[121],"derive":[123],"traversability":[124],"maps":[125],"allow":[127],"robots":[130],"navigate":[131],"and":[132],"accomplish":[133],"their":[134],"assigned":[135],"tasks":[136],"pedestrian":[140],"area.":[141]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
