{"id":"https://openalex.org/W2040168207","doi":"https://doi.org/10.1109/iros.2013.6697032","title":"Fast 3D mapping in highly dynamic environments using normal distributions transform occupancy maps","display_name":"Fast 3D mapping in highly dynamic environments using normal distributions transform occupancy maps","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2040168207","doi":"https://doi.org/10.1109/iros.2013.6697032","mag":"2040168207"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5102160523","display_name":"Jari Saarinen","orcid":null},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Jari Saarinen","raw_affiliation_strings":["Center of Applied Autonomous Sensor Systems (AASS), Orebro University, Sweden","Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), Orebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044352907","display_name":"Todor Stoyanov","orcid":"https://orcid.org/0000-0002-6013-4874"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Todor Stoyanov","raw_affiliation_strings":["Center of Applied Autonomous Sensor Systems (AASS), Orebro University, Sweden","Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), Orebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024851825","display_name":"Henrik Andreasson","orcid":"https://orcid.org/0000-0002-2953-1564"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Henrik Andreasson","raw_affiliation_strings":["Center of Applied Autonomous Sensor Systems (AASS), Orebro University, Sweden","Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), Orebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088586617","display_name":"Achim J. Lilienthal","orcid":"https://orcid.org/0000-0003-0217-9326"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Achim J. Lilienthal","raw_affiliation_strings":["Center of Applied Autonomous Sensor Systems (AASS), Orebro University, Sweden","Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), Orebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102160523"],"corresponding_institution_ids":["https://openalex.org/I26437253"],"apc_list":null,"apc_paid":null,"fwci":20.9798,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.98770026,"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":"4694","last_page":"4701"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9988999962806702,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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":0.7129271030426025},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.6665946841239929},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6309874057769775},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6075531244277954},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.5753359198570251},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5468111634254456},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5340230464935303},{"id":"https://openalex.org/keywords/nondestructive-testing","display_name":"Nondestructive testing","score":0.45210689306259155},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.4360724687576294},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3844315707683563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34674930572509766},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34535685181617737},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3338668644428253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1432449221611023},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10999146103858948},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1043529212474823}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7129271030426025},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.6665946841239929},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6309874057769775},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6075531244277954},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.5753359198570251},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5468111634254456},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5340230464935303},{"id":"https://openalex.org/C56529433","wikidata":"https://www.wikidata.org/wiki/Q626700","display_name":"Nondestructive testing","level":2,"score":0.45210689306259155},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.4360724687576294},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3844315707683563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34674930572509766},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34535685181617737},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3338668644428253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1432449221611023},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10999146103858948},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1043529212474823},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6697032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.473.5016","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.473.5016","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.aass.oru.se/Research/Learning/publications/2013/Saarinen_etal_2013-IROS-Fast_3D_Mapping_in_Highly_Dynamic_Environments_using_NDT_OM.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W31017078","https://openalex.org/W198334126","https://openalex.org/W1542612979","https://openalex.org/W1567242735","https://openalex.org/W1605248310","https://openalex.org/W1611476298","https://openalex.org/W1644054796","https://openalex.org/W1983043788","https://openalex.org/W1994695503","https://openalex.org/W2012502415","https://openalex.org/W2068303195","https://openalex.org/W2068861396","https://openalex.org/W2079660747","https://openalex.org/W2131439959","https://openalex.org/W2143220699","https://openalex.org/W2146746326","https://openalex.org/W2154418813","https://openalex.org/W3000613877","https://openalex.org/W3143919370","https://openalex.org/W4236715194","https://openalex.org/W4285719527","https://openalex.org/W6601251177","https://openalex.org/W6792753551"],"related_works":["https://openalex.org/W2077703563","https://openalex.org/W2563616702","https://openalex.org/W4301456084","https://openalex.org/W2999749393","https://openalex.org/W2095989223","https://openalex.org/W2000407620","https://openalex.org/W1562288862","https://openalex.org/W2571360927","https://openalex.org/W1978753601","https://openalex.org/W4246474087"],"abstract_inverted_index":{"Autonomous":[0],"vehicles":[1],"operating":[2],"in":[3,34,55,77,83,95,99,123],"real-world":[4],"industrial":[5],"environments":[6],"have":[7],"to":[8,41],"overcome":[9],"numerous":[10],"challenges,":[11],"chief":[12],"among":[13],"which":[14],"is":[15,62],"the":[16,42,84,91,110],"creation":[17],"and":[18,67,98,113,129],"maintenance":[19],"of":[20,74,86],"consistent":[21],"3D":[22,106,127],"world":[23],"models.":[24],"This":[25],"paper":[26],"focuses":[27],"on":[28,65],"a":[29,124,136],"particularly":[30],"important":[31],"challenge:":[32],"mapping":[33,54,87,128],"dynamic":[35,56,78,126],"environments.":[36,57,79],"We":[37,80],"introduce":[38],"several":[39],"improvements":[40],"recently":[43],"proposed":[44,92],"Normal":[45],"Distributions":[46],"Transform":[47],"Occupancy":[48],"Map":[49],"(NDT-OM)":[50],"aimed":[51],"for":[52,72],"efficient":[53],"A":[58],"careful":[59],"consistency":[60,97],"analysis":[61],"given":[63],"based":[64],"convergence":[66],"similarity":[68],"metrics":[69],"specifically":[70],"designed":[71],"evaluation":[73],"NDT":[75],"maps":[76],"show":[81],"that":[82,118],"context":[85],"with":[88,132],"known":[89],"poses":[90],"method":[93],"results":[94],"improved":[96],"superior":[100],"runtime":[101],"performance,":[102],"when":[103],"compared":[104],"against":[105],"occupancy":[107],"grids":[108],"at":[109],"same":[111],"size":[112],"resolution.":[114],"Additionally,":[115],"we":[116],"demonstrate":[117],"NDT-OM":[119],"features":[120],"real-time":[121],"performance":[122],"highly":[125],"tracking":[130],"scenario":[131],"centimeter":[133],"accuracy":[134],"over":[135],"1.5km":[137],"trajectory.":[138]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}