{"id":"https://openalex.org/W2910097674","doi":"https://doi.org/10.1109/iros.2018.8594054","title":"GPU-Accelerated Next-Best-View Coverage of Articulated Scenes","display_name":"GPU-Accelerated Next-Best-View Coverage of Articulated Scenes","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910097674","doi":"https://doi.org/10.1109/iros.2018.8594054","mag":"2910097674"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594054","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110323181","display_name":"Stefan Obwald","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Stefan Obwald","raw_affiliation_strings":["Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5110323181"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.8872,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.823235,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"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":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9997000098228455,"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":0.6960225105285645},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4833207130432129},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.47282183170318604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44855624437332153}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6960225105285645},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4833207130432129},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.47282183170318604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44855624437332153}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594054","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.75}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1487977379","https://openalex.org/W1985291160","https://openalex.org/W1999545213","https://openalex.org/W2018937007","https://openalex.org/W2021096542","https://openalex.org/W2094658339","https://openalex.org/W2107173440","https://openalex.org/W2133450049","https://openalex.org/W2163169902","https://openalex.org/W2208308154","https://openalex.org/W2227557434","https://openalex.org/W2481943765","https://openalex.org/W2536261099","https://openalex.org/W2582849885","https://openalex.org/W2783763601","https://openalex.org/W6610028881","https://openalex.org/W6679743596","https://openalex.org/W7066766518"],"related_works":["https://openalex.org/W1891287906","https://openalex.org/W1969923398","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2755342338","https://openalex.org/W2229312674","https://openalex.org/W3116076068","https://openalex.org/W2058170566","https://openalex.org/W258625772","https://openalex.org/W2166044122"],"abstract_inverted_index":{"Next-best-view":[0],"algorithms":[1,83],"are":[2],"commonly":[3],"used":[4],"for":[5,9,28,84,100,121],"covering":[6,29],"known":[7],"scenes,":[8],"example":[10],"in":[11,68,98,136],"search,":[12],"maintenance,":[13],"and":[14,93,103,134],"mapping":[15],"tasks.":[16],"In":[17],"this":[18],"paper,":[19],"we":[20],"consider":[21],"the":[22,33,51,58,74,105],"problem":[23,45],"of":[24,54,76,95],"planning":[25],"a":[26,77,119,123],"strategy":[27],"articulated":[30,145],"environments":[31],"where":[32],"robot":[34],"also":[35],"has":[36],"to":[37,40,50,62,72,114],"manipulate":[38],"objects":[39],"inspect":[41],"obstructed":[42],"areas.":[43],"This":[44],"is":[46],"particularly":[47],"challenging":[48],"due":[49],"many":[52,69],"degrees":[53],"freedom":[55],"resulting":[56],"from":[57,112,126],"articulation.":[59],"We":[60,81,117],"propose":[61],"exploit":[63],"graphics":[64],"processing":[65],"units":[66],"present":[67],"embedded":[70],"devices":[71],"parallelize":[73],"computations":[75],"greedy":[78],"next-best-view":[79],"approach.":[80],"implemented":[82],"costmap":[85],"computation,":[86],"path":[87],"planning,":[88],"as":[89,91],"well":[90],"simulation":[92,137],"evaluation":[94],"viewpoint":[96],"candidates":[97],"OpenGL":[99],"Embedded":[101],"Systems":[102],"benchmarked":[104],"implementations":[106],"on":[107],"multiple":[108],"device":[109],"classes":[110],"ranging":[111],"smartphones":[113],"multi-GPU":[115],"servers.":[116],"introduce":[118],"heuristic":[120],"estimating":[122],"utility":[124],"map":[125],"images":[127],"rendered":[128],"with":[129,147],"strategically":[130],"placed":[131],"spherical":[132],"cameras":[133],"show":[135],"experiments":[138],"that":[139],"robots":[140],"can":[141],"successfully":[142],"explore":[143],"complex":[144],"scenes":[146],"our":[148],"system.":[149]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}