{"id":"https://openalex.org/W2566430556","doi":"https://doi.org/10.1109/iros.2016.7759040","title":"Sparse sensing for resource-constrained depth reconstruction","display_name":"Sparse sensing for resource-constrained depth reconstruction","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2566430556","doi":"https://doi.org/10.1109/iros.2016.7759040","mag":"2566430556"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759040","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/116275","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065452156","display_name":"Fangchang Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Fangchang Ma","raw_affiliation_strings":["Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079748451","display_name":"Ula\u015f Ayaz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ulas Ayaz","raw_affiliation_strings":["Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sertac Karaman","raw_affiliation_strings":["Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065452156"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":66.1901,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.99651157,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"96","last_page":"103"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7194706201553345},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6803460121154785},{"id":"https://openalex.org/keywords/compressed-sensing","display_name":"Compressed sensing","score":0.5294556021690369},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5137723684310913},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5058190822601318},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5024683475494385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.489983469247818},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4758060872554779},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.4576522409915924},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4389345645904541},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.43645620346069336},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.43446388840675354},{"id":"https://openalex.org/keywords/iterative-reconstruction","display_name":"Iterative reconstruction","score":0.4301702678203583},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.14654645323753357},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12508344650268555}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7194706201553345},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6803460121154785},{"id":"https://openalex.org/C124851039","wikidata":"https://www.wikidata.org/wiki/Q2665459","display_name":"Compressed sensing","level":2,"score":0.5294556021690369},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5137723684310913},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5058190822601318},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5024683475494385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.489983469247818},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4758060872554779},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.4576522409915924},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4389345645904541},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.43645620346069336},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.43446388840675354},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.4301702678203583},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.14654645323753357},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12508344650268555},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759040","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/116275","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/116275","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT Web Domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/116275","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/116275","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT Web Domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W143004564","https://openalex.org/W588104450","https://openalex.org/W952232455","https://openalex.org/W1602724287","https://openalex.org/W1612997784","https://openalex.org/W1978683893","https://openalex.org/W1983602517","https://openalex.org/W2027600454","https://openalex.org/W2030987944","https://openalex.org/W2040437014","https://openalex.org/W2054010646","https://openalex.org/W2073261719","https://openalex.org/W2081709959","https://openalex.org/W2090673849","https://openalex.org/W2098433547","https://openalex.org/W2108134361","https://openalex.org/W2130422193","https://openalex.org/W2136236413","https://openalex.org/W2152171106","https://openalex.org/W2166706645","https://openalex.org/W2225918971","https://openalex.org/W2250172176","https://openalex.org/W2566430556","https://openalex.org/W3099751318","https://openalex.org/W3103648783"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W20648474","https://openalex.org/W2109516765","https://openalex.org/W4288094128","https://openalex.org/W2896778670"],"abstract_inverted_index":{"We":[0,117,186],"address":[1],"the":[2,10,76,82,110,152,155,213],"following":[3],"question:":[4],"is":[5,24,71,218],"it":[6],"possible":[7],"to":[8,32,47,98,121,149,165,177,184],"reconstruct":[9],"geometry":[11,153],"of":[12,136,154,206,215],"an":[13,36],"unknown":[14],"environment":[15,217],"using":[16],"sparse":[17],"and":[18,34,57,131,145,182,192,195,208],"incomplete":[19,69,102],"depth":[20,51,63,83,100,127,169,201],"measurements?":[21],"This":[22],"problem":[23],"relevant":[25],"for":[26,168],"a":[27,49,54,179,204],"resource-constrained":[28],"robot":[29,77],"that":[30,157,197],"has":[31],"navigate":[33],"map":[35],"environment,":[37],"but":[38,74],"does":[39],"not":[40,72],"have":[41],"enough":[42],"on-board":[43],"power":[44],"or":[45],"payload":[46],"carry":[48],"traditional":[50],"sensor":[52],"(e.g.,":[53,87],"3D":[55,132],"lidar)":[56],"can":[58,159],"only":[59],"acquire":[60],"few":[61,92],"(point-wise)":[62],"measurements.":[64,103],"In":[65],"general,":[66],"reconstruction":[67,202],"from":[68,101,203],"data":[70],"possible,":[73],"when":[75,212],"operates":[78],"in":[79,114,129],"man-made":[80],"environments,":[81],"exhibits":[84],"some":[85],"regularity":[86,97],"many":[88],"planar":[89],"surfaces":[90],"with":[91,109],"edges);":[93],"we":[94,141,158],"leverage":[95],"this":[96,119],"infer":[99],"Our":[104,161],"formulation":[105],"bridges":[106],"robotic":[107],"perception":[108],"compressive":[111],"sensing":[112,139],"literature":[113],"signal":[115],"processing.":[116],"exploit":[118],"connection":[120],"provide":[122],"formal":[123],"results":[124,148,162],"on":[125,190],"exact":[126],"recovery":[128],"2D":[130],"problems.":[133],"Taking":[134],"advantage":[135],"our":[137,188],"specific":[138],"modality,":[140],"also":[142],"prove":[143],"novel":[144],"more":[146],"powerful":[147],"completely":[150],"characterize":[151],"signals":[156],"reconstruct.":[160],"directly":[163],"translate":[164],"practical":[166],"algorithms":[167,172,189],"reconstruction;":[170],"these":[171],"are":[173],"simple":[174],"(they":[175],"reduce":[176],"solving":[178],"linear":[180],"program),":[181],"robust":[183],"noise.":[185],"test":[187],"real":[191],"simulated":[193],"data,":[194],"show":[196],"they":[198],"enable":[199],"accurate":[200],"handful":[205],"measurements,":[207],"perform":[209],"well":[210],"even":[211],"assumption":[214],"structured":[216],"violated.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
