{"id":"https://openalex.org/W2747753476","doi":"https://doi.org/10.1109/iros.2017.8206186","title":"Mesh-based 3D textured urban mapping","display_name":"Mesh-based 3D textured urban mapping","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2747753476","doi":"https://doi.org/10.1109/iros.2017.8206186","mag":"2747753476"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1708.05543","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023230310","display_name":"Andrea Romanoni","orcid":"https://orcid.org/0000-0001-6941-6053"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Andrea Romanoni","raw_affiliation_strings":["Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Milano, Italy","Politecnico Di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria DEIB, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Politecnico Di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria DEIB, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073623131","display_name":"Daniele Fiorenti","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Fiorenti","raw_affiliation_strings":["Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Milano, Italy","Politecnico Di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria DEIB, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Politecnico Di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria DEIB, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003932703","display_name":"Matteo Matteucci","orcid":"https://orcid.org/0000-0002-8306-6739"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Matteucci","raw_affiliation_strings":["Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Milano, Italy","Politecnico Di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria DEIB, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Politecnico Di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria DEIB, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5023230310"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.40552072,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.78920354,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3460","last_page":"3466"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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/lidar","display_name":"Lidar","score":0.8150113224983215},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7493085265159607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7126821279525757},{"id":"https://openalex.org/keywords/mobile-mapping","display_name":"Mobile mapping","score":0.584649384021759},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5679092407226562},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5614620447158813},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.49950575828552246},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4952203333377838},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4878387749195099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4719252586364746},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.4670718312263489},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4354691505432129},{"id":"https://openalex.org/keywords/texture-mapping","display_name":"Texture mapping","score":0.4170282483100891},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics","score":0.41352757811546326},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3443489372730255},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.28062522411346436},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2383286952972412}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8150113224983215},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7493085265159607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7126821279525757},{"id":"https://openalex.org/C2776821279","wikidata":"https://www.wikidata.org/wiki/Q2293902","display_name":"Mobile mapping","level":3,"score":0.584649384021759},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5679092407226562},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5614620447158813},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.49950575828552246},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4952203333377838},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4878387749195099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4719252586364746},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.4670718312263489},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4354691505432129},{"id":"https://openalex.org/C200585589","wikidata":"https://www.wikidata.org/wiki/Q752176","display_name":"Texture mapping","level":2,"score":0.4170282483100891},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.41352757811546326},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3443489372730255},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.28062522411346436},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2383286952972412},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2017.8206186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1708.05543","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1708.05543","pdf_url":"https://arxiv.org/pdf/1708.05543","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2747753476","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1708.05543.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:re.public.polimi.it:11311/1039168","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1039168","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.48550/arxiv.1708.05543","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1708.05543","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1708.05543","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1708.05543","pdf_url":"https://arxiv.org/pdf/1708.05543","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W56080217","https://openalex.org/W143844427","https://openalex.org/W144202295","https://openalex.org/W309515887","https://openalex.org/W832925222","https://openalex.org/W1538887534","https://openalex.org/W1964365690","https://openalex.org/W2008073424","https://openalex.org/W2011654214","https://openalex.org/W2011935419","https://openalex.org/W2044164936","https://openalex.org/W2055496835","https://openalex.org/W2071860582","https://openalex.org/W2087429945","https://openalex.org/W2089697667","https://openalex.org/W2105303354","https://openalex.org/W2113859792","https://openalex.org/W2119404509","https://openalex.org/W2121535648","https://openalex.org/W2125420246","https://openalex.org/W2131991591","https://openalex.org/W2133844819","https://openalex.org/W2150066425","https://openalex.org/W2165306775","https://openalex.org/W2166522594","https://openalex.org/W2211977492","https://openalex.org/W2335972999","https://openalex.org/W2527478282","https://openalex.org/W2535516436","https://openalex.org/W2567028727","https://openalex.org/W2949497434","https://openalex.org/W2963166928","https://openalex.org/W2963589995","https://openalex.org/W3104050166","https://openalex.org/W4249866455","https://openalex.org/W6652231383","https://openalex.org/W6684484575","https://openalex.org/W6693657261"],"related_works":["https://openalex.org/W2962853753","https://openalex.org/W2944682848","https://openalex.org/W2991644087","https://openalex.org/W3206935637","https://openalex.org/W2796612304","https://openalex.org/W3173178412","https://openalex.org/W3001498532","https://openalex.org/W2897012880","https://openalex.org/W2937366372","https://openalex.org/W3009276589","https://openalex.org/W2164716941","https://openalex.org/W3026410831","https://openalex.org/W2554671998","https://openalex.org/W3154675411","https://openalex.org/W3030003596","https://openalex.org/W2594198114","https://openalex.org/W2899197273","https://openalex.org/W2110662799","https://openalex.org/W3048252687","https://openalex.org/W2910533538"],"abstract_inverted_index":{"In":[0,124],"the":[1,17,27,31,43,51,104,125,130,133,138,145,154,162,167,171,177,186],"era":[2],"of":[3,42,54,132,185],"autonomous":[4],"driving,":[5],"urban":[6,18,188],"mapping":[7,21,78,86,189],"represents":[8],"a":[9,37,55,65,107,111,149],"core":[10],"step":[11],"to":[12,182],"let":[13],"vehicles":[14,76],"interact":[15],"with":[16,180],"context.":[19],"Successful":[20],"algorithms":[22,87,197],"have":[23],"been":[24],"proposed":[25,126,168],"in":[26,46,147,198],"last":[28],"decade":[29],"building":[30],"map":[32,57,105,152],"leveraging":[33],"on":[34,64,90],"data":[35,60],"from":[36,58],"single":[38],"sensor.":[39],"The":[40],"focus":[41],"system":[44],"presented":[45],"this":[47],"paper":[48],"is":[49],"twofold:":[50],"joint":[52],"estimation":[53],"3D":[56,66,134],"lidar":[59,94,135,155],"and":[61,68,83,99,121,137,141,157,174,191],"images,":[62,146],"based":[63],"mesh,":[67],"its":[69],"texturing.":[70],"Indeed,":[71],"even":[72],"if":[73],"most":[74],"surveying":[75],"for":[77,119],"are":[79],"endowed":[80],"by":[81,144],"cameras":[82],"lidar,":[84],"existing":[85],"usually":[88],"rely":[89],"either":[91],"images":[92],"or":[93],"data;":[95],"moreover":[96],"both":[97],"image-based":[98],"lidar-based":[100],"systems":[101],"often":[102],"represent":[103],"as":[106],"point":[108],"cloud,":[109],"while":[110],"continuous":[112],"textured":[113],"mesh":[114],"representation":[115],"would":[116],"be":[117],"useful":[118],"visualization":[120],"navigation":[122],"purposes.":[123],"framework,":[127],"we":[128,175],"join":[129],"accuracy":[131],"data,":[136],"dense":[139],"information":[140],"appearance":[142],"carried":[143],"estimating":[148],"visibility":[150],"consistent":[151],"upon":[153],"measurements,":[156],"refining":[158],"it":[159],"photometrically":[160],"through":[161],"acquired":[163],"images.":[164],"We":[165],"evaluate":[166],"framework":[169],"against":[170],"KITTI":[172],"dataset":[173],"show":[176],"performance":[178],"improvement":[179],"respect":[181],"two":[183,192],"state":[184],"art":[187],"algorithms,":[190],"widely":[193],"used":[194],"surface":[195],"reconstruction":[196],"Computer":[199],"Graphics.":[200]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}