{"id":"https://openalex.org/W2027438599","doi":"https://doi.org/10.1109/iros.2013.6697033","title":"Normal Distributions Transform Occupancy Map fusion: Simultaneous mapping and tracking in large scale dynamic environments","display_name":"Normal Distributions Transform Occupancy Map fusion: Simultaneous mapping and tracking in large scale dynamic environments","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2027438599","doi":"https://doi.org/10.1109/iros.2013.6697033","mag":"2027438599"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697033","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/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":true,"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/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":false,"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/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/A5044352907"],"corresponding_institution_ids":["https://openalex.org/I26437253"],"apc_list":null,"apc_paid":null,"fwci":48.953,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.99452897,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4702","last_page":"4708"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9965999722480774,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9947999715805054,"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":0.7204040288925171},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5447616577148438},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5425044894218445},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5098708868026733},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.506909191608429},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5013370513916016},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4659275710582733},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.4606139659881592},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4420253336429596},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.43741652369499207},{"id":"https://openalex.org/keywords/data-set","display_name":"Data set","score":0.43043118715286255},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.425737202167511},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4242936372756958},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.421579509973526},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.4114556312561035},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4104193449020386},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11803001165390015},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1137419044971466},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10534796118736267}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7204040288925171},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5447616577148438},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5425044894218445},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5098708868026733},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.506909191608429},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5013370513916016},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4659275710582733},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.4606139659881592},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4420253336429596},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.43741652369499207},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.43043118715286255},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.425737202167511},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4242936372756958},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.421579509973526},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.4114556312561035},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4104193449020386},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11803001165390015},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1137419044971466},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10534796118736267},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6697033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697033","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:10.1.1.412.328","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.412.328","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/Stoyanov_etal_2013-IROS-NDTOM_Fusion_Simultaneous_Mapping_and_Tracking_in_Large_Scale_Dynamic_Environments.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1605248310","https://openalex.org/W1987648924","https://openalex.org/W1995963656","https://openalex.org/W2012502415","https://openalex.org/W2021851106","https://openalex.org/W2043488348","https://openalex.org/W2049981393","https://openalex.org/W2068303195","https://openalex.org/W2071158641","https://openalex.org/W2098713830","https://openalex.org/W2105977269","https://openalex.org/W2113755077","https://openalex.org/W2131439959","https://openalex.org/W2137052305","https://openalex.org/W2153054365","https://openalex.org/W2336416123","https://openalex.org/W3083656528","https://openalex.org/W4249866455"],"related_works":["https://openalex.org/W1578117154","https://openalex.org/W2542256560","https://openalex.org/W1543936162","https://openalex.org/W1971776229","https://openalex.org/W2766961550","https://openalex.org/W2112263445","https://openalex.org/W1497101000","https://openalex.org/W2054235656","https://openalex.org/W4220789584","https://openalex.org/W1585873145"],"abstract_inverted_index":{"Autonomous":[0],"vehicles":[1],"operating":[2],"in":[3,46,95,143],"real-world":[4,145],"industrial":[5,146],"environments":[6],"have":[7],"to":[8,33,92],"overcome":[9],"numerous":[10],"challenges,":[11],"chief":[12],"among":[13],"which":[14],"are":[15],"the":[16,24,28,34,55,121,125],"creation":[17],"of":[18,27,67,120,136,141,154],"consistent":[19],"3D":[20,68],"world":[21],"models":[22],"and":[23,51,77,112,138],"simultaneous":[25],"tracking":[26,52],"vehicle":[29],"pose":[30],"with":[31],"respect":[32],"created":[35],"maps.":[36],"In":[37,123],"this":[38],"paper":[39],"we":[40,72],"integrate":[41],"two":[42],"recently":[43],"proposed":[44,85],"algorithms":[45],"an":[47],"online,":[48],"near-realtime":[49],"mapping":[50],"system.":[53],"Using":[54],"Normal":[56],"Distributions":[57],"Transform":[58],"(NDT),":[59],"a":[60,74,88,103,130,139,144],"sparse":[61],"Gaussian":[62],"Mixture":[63],"Model,":[64],"for":[65],"representation":[66],"range":[69],"scan":[70],"data,":[71],"propose":[73],"frame-to-model":[75],"registration":[76],"data":[78,108,131],"fusion":[79],"algorithm":[80],"-":[81],"NDT":[82],"Fusion.":[83],"The":[84,98],"approach":[86,99],"uses":[87],"submap":[89],"indexing":[90],"system":[91,126],"achieve":[93],"operation":[94,137],"arbitrarily-sized":[96],"environments.":[97],"is":[100,127],"evaluated":[101,128],"on":[102,129],"publicly":[104],"available":[105],"city-block":[106],"sized":[107],"set,":[109],"achieving":[110,148],"accuracy":[111,150],"runtime":[113],"performance":[114],"significantly":[115],"better":[116],"than":[117],"current":[118],"state":[119],"art.":[122],"addition,":[124],"set":[132],"covering":[133],"ten":[134],"hours":[135],"trajectory":[140],"7.2km":[142],"environment,":[147],"centimeter":[149],"at":[151],"update":[152],"rates":[153],"5-10":[155],"Hz.":[156]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
