{"id":"https://openalex.org/W2910445994","doi":"https://doi.org/10.1109/iros.2018.8593916","title":"Optimizing Scan Homogeneity for Building Full-3D Lidars Based on Rotating a Multi-Beam Velodyne Range-Finder","display_name":"Optimizing Scan Homogeneity for Building Full-3D Lidars Based on Rotating a Multi-Beam Velodyne Range-Finder","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910445994","doi":"https://doi.org/10.1109/iros.2018.8593916","mag":"2910445994"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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":"https://hdl.handle.net/10630/16611","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035771066","display_name":"Anthony Mandow","orcid":"https://orcid.org/0000-0002-9994-6239"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Anthony Mandow","raw_affiliation_strings":["Andaluc\u00eda Tech, Universidad de M\u00e1laga, M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"Andaluc\u00eda Tech, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100651933","display_name":"Jes\u00fas Morales","orcid":"https://orcid.org/0000-0003-1095-4775"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jesus Morales","raw_affiliation_strings":["Andaluc\u00eda Tech, Universidad de M\u00e1laga, M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"Andaluc\u00eda Tech, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076273777","display_name":"Jos\u00e9 Antonio G\u00f3mez\u2010Ruiz","orcid":"https://orcid.org/0000-0001-7469-8112"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jose Antonio Gomez-Ruiz","raw_affiliation_strings":["Andaluc\u00eda Tech, Universidad de M\u00e1laga, M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"Andaluc\u00eda Tech, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052476498","display_name":"Alfonso Garc\u00eda-Cerezo","orcid":"https://orcid.org/0000-0003-3432-3230"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alfonso J. Garcia-Cerezo","raw_affiliation_strings":["Andaluc\u00eda Tech, Universidad de M\u00e1laga, M\u00e1laga, Spain"],"affiliations":[{"raw_affiliation_string":"Andaluc\u00eda Tech, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035771066"],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":null,"apc_paid":null,"fwci":1.1674,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.88015828,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"4788","last_page":"4793"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9950000047683716,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9890000224113464,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/homogeneity","display_name":"Homogeneity (statistics)","score":0.7399048805236816},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6829310655593872},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5523722767829895},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5380576848983765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4694131314754486},{"id":"https://openalex.org/keywords/field-of-view","display_name":"Field of view","score":0.46715134382247925},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41530266404151917},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.304745614528656},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.27548784017562866}],"concepts":[{"id":"https://openalex.org/C142259097","wikidata":"https://www.wikidata.org/wiki/Q5891314","display_name":"Homogeneity (statistics)","level":2,"score":0.7399048805236816},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6829310655593872},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5523722767829895},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5380576848983765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4694131314754486},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.46715134382247925},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41530266404151917},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.304745614528656},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.27548784017562866},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8593916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:riuma.uma.es:10630/16611","is_oa":true,"landing_page_url":"https://hdl.handle.net/10630/16611","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"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":null,"raw_type":"conference output"}],"best_oa_location":{"id":"pmh:oai:riuma.uma.es:10630/16611","is_oa":true,"landing_page_url":"https://hdl.handle.net/10630/16611","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"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":null,"raw_type":"conference output"},"sustainable_development_goals":[{"score":0.6700000166893005,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1929860363","https://openalex.org/W1992895784","https://openalex.org/W2021850081","https://openalex.org/W2085355871","https://openalex.org/W2488748881","https://openalex.org/W2499523813","https://openalex.org/W2565029242","https://openalex.org/W2767011148","https://openalex.org/W2773432235","https://openalex.org/W2791763242","https://openalex.org/W2903919837","https://openalex.org/W2952867577","https://openalex.org/W3103345480"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W2956374172","https://openalex.org/W1964041166","https://openalex.org/W4210818033","https://openalex.org/W4221065211","https://openalex.org/W4308547747"],"abstract_inverted_index":{"Multi-beam":[0],"lidar":[1],"(MBL)":[2],"scanners":[3],"are":[4],"compact,":[5],"light,":[6],"and":[7,21,80,150],"accessible":[8],"3D":[9,69,126],"sensors":[10,152],"with":[11,53,76,101,113],"high":[12],"data":[13],"rates,":[14],"but":[15],"they":[16],"offer":[17],"limited":[18],"vertical":[19],"resolution":[20],"field":[22],"of":[23,35,90,98,104,125,136],"view":[24],"(FOV).":[25],"Some":[26],"recent":[27],"robotics":[28],"research":[29],"has":[30],"profited":[31],"from":[32],"the":[33,67,88,96,99,102,133,145],"addition":[34],"a":[36,58,63,77,106,114,122],"degree-of-freedom":[37],"(DOF)":[38],"to":[39,42,65],"an":[40],"MBL":[41],"build":[43],"rotating":[44],"multibeam":[45],"lidars":[46],"(RMBL)":[47],"that":[48,109,129],"can":[49],"achieve":[50],"high-resolution":[51],"scans":[52],"full":[54],"spherical":[55,115,134],"FOV.":[56,116],"In":[57,83],"previous":[59],"work,":[60],"we":[61,86,120],"offered":[62],"methodology":[64],"analyze":[66],"complex":[68],"scan":[70,111],"measurement":[71],"distributions":[72],"produced":[73],"by":[74,153],"RMBLs":[75,100],"rolling":[78],"DOF":[79],"no":[81],"pitching.":[82],"this":[84,118],"paper,":[85],"investigate":[87],"effect":[89],"introducing":[91],"constant":[92],"pitch":[93],"angles":[94],"in":[95],"construction":[97],"purpose":[103],"finding":[105],"kinematic":[107],"configuration":[108],"optimizes":[110],"homogeneity":[112,128],"To":[117],"end,":[119],"propose":[121],"scalar":[123],"index":[124],"sensor":[127],"is":[130,142],"based":[131],"on":[132],"formulation":[135],"Ripley's":[137],"K":[138],"function.":[139],"The":[140],"optimization":[141],"performed":[143],"for":[144],"widely":[146],"used":[147],"Puck":[148],"(VLP-16)":[149],"HDL-32":[151],"Velodyne.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}