{"id":"https://openalex.org/W2004240842","doi":"https://doi.org/10.1109/iros.2012.6385522","title":"Patch map: A benchmark for occupancy grid algorithm evaluation","display_name":"Patch map: A benchmark for occupancy grid algorithm evaluation","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2004240842","doi":"https://doi.org/10.1109/iros.2012.6385522","mag":"2004240842"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5034780376","display_name":"Rehman S. Merali","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Rehman S. Merali","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies, 4925 Dufferin St., Canada, M3H 5T6"],"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, 4925 Dufferin St., Canada, M3H 5T6","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies, 4925 Dufferin St., Canada, M3H 5T6"],"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, 4925 Dufferin St., Canada, M3H 5T6","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034780376"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":3.1778,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.9187814,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"1","issue":null,"first_page":"3481","last_page":"3488"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9897000193595886,"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"}},"topics":[{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9897000193595886,"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/T12288","display_name":"Optimization and Search Problems","score":0.9801999926567078,"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"}},{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9757999777793884,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/occupancy","display_name":"Occupancy","score":0.9368552565574646},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.9341814517974854},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7441831231117249},{"id":"https://openalex.org/keywords/grid-cell","display_name":"Grid cell","score":0.7207162380218506},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6959441900253296},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6780719757080078},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6121668219566345},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.511025071144104},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43096923828125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23391515016555786},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22946608066558838},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18958407640457153},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1177385151386261},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09369224309921265},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09147137403488159},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08789676427841187}],"concepts":[{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.9368552565574646},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.9341814517974854},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7441831231117249},{"id":"https://openalex.org/C2983008078","wikidata":"https://www.wikidata.org/wiki/Q863495","display_name":"Grid cell","level":3,"score":0.7207162380218506},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6959441900253296},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6780719757080078},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6121668219566345},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.511025071144104},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43096923828125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23391515016555786},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22946608066558838},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18958407640457153},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1177385151386261},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09369224309921265},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09147137403488159},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08789676427841187},{"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/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5699999928474426,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W195773586","https://openalex.org/W1519865121","https://openalex.org/W1605073378","https://openalex.org/W1611476298","https://openalex.org/W1764250255","https://openalex.org/W1965555277","https://openalex.org/W1991752086","https://openalex.org/W1999050017","https://openalex.org/W2030021468","https://openalex.org/W2049633694","https://openalex.org/W2055547288","https://openalex.org/W2095103413","https://openalex.org/W2109142140","https://openalex.org/W2110178871","https://openalex.org/W2125409550","https://openalex.org/W2154418813","https://openalex.org/W2164638305","https://openalex.org/W2810650918","https://openalex.org/W4285719527","https://openalex.org/W6636175460","https://openalex.org/W6636193600","https://openalex.org/W6637824356","https://openalex.org/W6676388466"],"related_works":["https://openalex.org/W5037887","https://openalex.org/W1999050017","https://openalex.org/W4229444815","https://openalex.org/W2130588278","https://openalex.org/W4293877624","https://openalex.org/W2140013578","https://openalex.org/W2551663027","https://openalex.org/W2132105173","https://openalex.org/W2140110270","https://openalex.org/W2162255319"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"have":[2],"been":[3],"using":[4],"two-dimensional":[5],"discrete":[6],"occupancy":[7,35],"grid":[8,27],"maps":[9,40],"for":[10],"more":[11],"than":[12],"25":[13],"years":[14],"to":[15,32,44,48],"represent":[16],"a":[17,26],"continuous":[18],"environment.":[19],"Occupancy":[20],"grids":[21],"discretize":[22],"the":[23,34,46],"environment":[24],"into":[25],"of":[28,36],"cells":[29],"and":[30],"seek":[31],"determine":[33,45],"each":[37,50],"cell.":[38],"These":[39],"are":[41],"generally":[42],"used":[43],"degree":[47],"which":[49],"cell":[51],"is":[52],"occupied.":[53]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}