{"id":"https://openalex.org/W3130771041","doi":"https://doi.org/10.1109/iros45743.2020.9341564","title":"Rapid Autonomous Semantic Mapping","display_name":"Rapid Autonomous Semantic Mapping","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130771041","doi":"https://doi.org/10.1109/iros45743.2020.9341564","mag":"3130771041"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5049866282","display_name":"Anup Parikh","orcid":"https://orcid.org/0000-0003-3120-1721"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Anup Parikh","raw_affiliation_strings":["Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057780987","display_name":"Mark W. Koch","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark W. Koch","raw_affiliation_strings":["Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035875582","display_name":"Timothy Blada","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy J. Blada","raw_affiliation_strings":["Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033526285","display_name":"Stephen Buerger","orcid":"https://orcid.org/0000-0001-8003-8938"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen P. Buerger","raw_affiliation_strings":["Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5049866282"],"corresponding_institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":0.3452,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.75097286,"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":"6156","last_page":"6163"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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":0.9983000159263611,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10036","display_name":"Advanced Neural Network Applications","score":0.9898999929428101,"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":0.7191513776779175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38174206018447876},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.33785074949264526}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7191513776779175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38174206018447876},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.33785074949264526}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338291","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W7746136","https://openalex.org/W297039922","https://openalex.org/W652269744","https://openalex.org/W1547347985","https://openalex.org/W1562003885","https://openalex.org/W1684737195","https://openalex.org/W1820096659","https://openalex.org/W1972624884","https://openalex.org/W1984190176","https://openalex.org/W1987648924","https://openalex.org/W1988372419","https://openalex.org/W1988757690","https://openalex.org/W2007148617","https://openalex.org/W2016285927","https://openalex.org/W2033979122","https://openalex.org/W2052968995","https://openalex.org/W2065906272","https://openalex.org/W2101077466","https://openalex.org/W2115733720","https://openalex.org/W2129652899","https://openalex.org/W2133844819","https://openalex.org/W2142610995","https://openalex.org/W2157044442","https://openalex.org/W2161969291","https://openalex.org/W2201312286","https://openalex.org/W2295647632","https://openalex.org/W2298287476","https://openalex.org/W2309574746","https://openalex.org/W2320788478","https://openalex.org/W2523049145","https://openalex.org/W2604455318","https://openalex.org/W2796347433","https://openalex.org/W2884367402","https://openalex.org/W2888144883","https://openalex.org/W2896182651","https://openalex.org/W2962694681","https://openalex.org/W2968088687","https://openalex.org/W2988916019","https://openalex.org/W3009928773","https://openalex.org/W3106250896","https://openalex.org/W4238767231","https://openalex.org/W4293584584","https://openalex.org/W6600313631","https://openalex.org/W6638553236","https://openalex.org/W6750227808","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W2350741829","https://openalex.org/W2530322880","https://openalex.org/W3204019825"],"abstract_inverted_index":{"A":[0],"semantic":[1,59],"understanding":[2],"of":[3],"the":[4,78],"environment":[5],"is":[6],"needed":[7],"to":[8,76,89],"enable":[9,36],"high":[10],"level":[11],"autonomy":[12],"in":[13,22,40,80,102],"robotic":[14],"systems.":[15],"Recent":[16],"results":[17,28,101],"have":[18,29],"demonstrated":[19],"rapid":[20],"progress":[21],"underlying":[23],"technology":[24],"areas,":[25],"but":[26],"few":[27],"been":[30],"reported":[31],"on":[32],"end-to-end":[33],"systems":[34],"that":[35],"effective":[37],"autonomous":[38],"perception":[39],"complex":[41],"environments.":[42],"In":[43],"this":[44],"paper,":[45],"we":[46],"describe":[47],"an":[48],"approach":[49],"for":[50],"rapidly":[51],"and":[52,60,73,84,94,104],"autonomously":[53],"mapping":[54],"unknown":[55],"environments":[56,106],"with":[57,69],"integrated":[58],"geometric":[61],"information.":[62],"We":[63],"use":[64],"surfel-based":[65],"RGB-D":[66],"SLAM":[67],"techniques,":[68],"incremental":[70],"object":[71],"segmentation":[72],"classification":[74],"methods":[75],"update":[77],"map":[79,97],"realtime.":[81],"Information":[82],"theoretic":[83],"heuristic":[85],"measures":[86],"are":[87,107],"used":[88],"quickly":[90],"plan":[91],"sensor":[92],"motion":[93],"drive":[95],"down":[96],"uncertainty.":[98],"Preliminary":[99],"experimental":[100],"simple":[103],"cluttered":[105],"reported.":[108]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
