{"id":"https://openalex.org/W2198680548","doi":"https://doi.org/10.1109/iros.2015.7353633","title":"2D-SDF-SLAM: A signed distance function based SLAM frontend for laser scanners","display_name":"2D-SDF-SLAM: A signed distance function based SLAM frontend for laser scanners","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2198680548","doi":"https://doi.org/10.1109/iros.2015.7353633","mag":"2198680548"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353633","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5112569184","display_name":"Joscha-David Fossel","orcid":null},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Joscha-David Fossel","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, United Kingdom","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008547992","display_name":"Karl Tuyls","orcid":"https://orcid.org/0000-0001-7929-1944"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Karl Tuyls","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, United Kingdom","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110234358","display_name":"J\u00fcrgen Sturm","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jurgen Sturm","raw_affiliation_strings":["Metaio GmbH, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Metaio GmbH, Munich, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.2378,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.96717393,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7620000839233398},{"id":"https://openalex.org/keywords/signed-distance-function","display_name":"Signed distance function","score":0.5611993074417114},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5549500584602356},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.5394355654716492},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5261632800102234},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4978373050689697},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.472878634929657},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.45340484380722046},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4363400936126709},{"id":"https://openalex.org/keywords/standard-deviation","display_name":"Standard deviation","score":0.4337954819202423},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.41870179772377014},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32052111625671387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.304107666015625},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22046712040901184}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7620000839233398},{"id":"https://openalex.org/C71169176","wikidata":"https://www.wikidata.org/wiki/Q7512907","display_name":"Signed distance function","level":2,"score":0.5611993074417114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5549500584602356},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.5394355654716492},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5261632800102234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4978373050689697},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.472878634929657},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45340484380722046},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4363400936126709},{"id":"https://openalex.org/C22679943","wikidata":"https://www.wikidata.org/wiki/Q159375","display_name":"Standard deviation","level":2,"score":0.4337954819202423},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.41870179772377014},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32052111625671387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.304107666015625},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22046712040901184},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353633","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W347940154","https://openalex.org/W1967740178","https://openalex.org/W1969291828","https://openalex.org/W1987648924","https://openalex.org/W2009422376","https://openalex.org/W2049981393","https://openalex.org/W2064451896","https://openalex.org/W2118877769","https://openalex.org/W2119851068","https://openalex.org/W2121688201","https://openalex.org/W2130422193","https://openalex.org/W2161900517","https://openalex.org/W2243794092","https://openalex.org/W2329129622","https://openalex.org/W2901136733","https://openalex.org/W6611710509","https://openalex.org/W6677548441","https://openalex.org/W6678119343","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4292862563","https://openalex.org/W2088888418","https://openalex.org/W2074515009","https://openalex.org/W2545441169","https://openalex.org/W4206044543","https://openalex.org/W3013616745","https://openalex.org/W2086478527","https://openalex.org/W2625455490","https://openalex.org/W4206120224","https://openalex.org/W2116298349"],"abstract_inverted_index":{"We":[0,156],"introduce":[1],"a":[2,14,22,34,42,110,129,139,176,188,195],"novel":[3],"approach":[4],"to":[5,59,87,93,109,120],"simultaneous":[6],"localization":[7,112],"and":[8,126,137,151],"mapping":[9],"for":[10,123],"robots":[11],"equipped":[12],"with":[13,102,175,194],"2D":[15,30,53],"laser":[16],"scanner.":[17],"In":[18,91,128,181],"particular,":[19],"we":[20,143,186],"propose":[21],"fast":[23],"scan":[24,54,158],"registration":[25],"algorithm":[26],"that":[27,145],"operates":[28],"on":[29,71,138,160],"maps":[31,116,122,162],"represented":[32],"as":[33,41,82],"signed":[35,66],"distance":[36,67],"function":[37],"(SDF).":[38],"Using":[39],"SDFs":[40],"map":[43],"representation":[44],"has":[45],"several":[46],"advantages":[47],"over":[48],"existing":[49],"approaches:":[50],"while":[51],"classical":[52],"matchers":[55],"employ":[56],"brute-force":[57],"matching":[58,159],"track":[60],"the":[61,64,75,89,97,182],"position":[62],"of":[63,74,131,169,191],"robot,":[65],"functions":[68],"are":[69],"differentiable":[70],"large":[72],"parts":[73],"map.":[76],"Consequently,":[77],"efficient":[78,124,152],"minimization":[79],"techniques":[80],"such":[81],"Gauss-Newton":[83],"can":[84,99,117],"be":[85,100,118],"applied":[86],"find":[88],"minimum.":[90],"contrast":[92],"occupancy":[94,161],"grid":[95],"maps,":[96],"environment":[98],"captured":[101],"sub-grid":[103],"cell":[104],"size":[105],"precision,":[106],"which":[107],"leads":[108],"higher":[111],"accuracy.":[113],"Furthermore,":[114],"SDF":[115,146],"triangulated":[119],"polygon":[121],"storage":[125],"transfer.":[127],"series":[130],"experiments,":[132,185],"conducted":[133],"both":[134],"in":[135,163,167],"simulation":[136,164],"real":[140,183],"physical":[141],"platform,":[142],"demonstrate":[144],"tracking":[147],"is":[148],"more":[149],"accurate":[150],"than":[153],"previous":[154],"approaches.":[155],"outperform":[157],"by":[165],"~270%":[166],"terms":[168],"root":[170],"mean":[171],"squared":[172],"deviation":[173],"(RMSD)":[174],"~63%":[177],"lower":[178,197],"standard":[179,198],"deviation.":[180,199],"robot":[184],"obtain":[187],"performance":[189],"advantage":[190],"~14%":[192],"RMSD":[193],"~25%":[196]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}