{"id":"https://openalex.org/W4312449997","doi":"https://doi.org/10.1109/iros47612.2022.9981531","title":"3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation","display_name":"3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312449997","doi":"https://doi.org/10.1109/iros47612.2022.9981531"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981531","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5017839980","display_name":"Yifu Tao","orcid":"https://orcid.org/0000-0002-8642-7974"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Yifu Tao","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK","Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072802898","display_name":"Marija Popovi\u0107","orcid":"https://orcid.org/0000-0002-8830-6033"},"institutions":[{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]},{"id":"https://openalex.org/I4210161783","display_name":"GeoInformation (United Kingdom)","ror":"https://ror.org/05t4zqc79","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210161783"]},{"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":["CN","DE","GB"],"is_corresponding":false,"raw_author_name":"Marija Popovi\u0107","raw_affiliation_strings":["Institute of Geodesy and Geoinformation, University of Bonn,Cluster of Excellence PhenoRob","Cluster of Excellence PhenoRob, Institute of Geodesy and Geoinformation, University of Bonn"],"affiliations":[{"raw_affiliation_string":"Institute of Geodesy and Geoinformation, University of Bonn,Cluster of Excellence PhenoRob","institution_ids":["https://openalex.org/I4210161783"]},{"raw_affiliation_string":"Cluster of Excellence PhenoRob, Institute of Geodesy and Geoinformation, University of Bonn","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101607122","display_name":"Yiduo Wang","orcid":"https://orcid.org/0000-0003-2975-2882"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yiduo Wang","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK","Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061274122","display_name":"Sundara Tejaswi Digumarti","orcid":"https://orcid.org/0000-0002-0004-0868"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sundara Tejaswi Digumarti","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK","Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079779228","display_name":"Nived Chebrolu","orcid":"https://orcid.org/0000-0001-6408-4459"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nived Chebrolu","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK","Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK","Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5017839980"],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":0.5397,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.75431342,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5339","last_page":"5346"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9980000257492065,"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/lidar","display_name":"Lidar","score":0.9033724069595337},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7590459585189819},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7313856482505798},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6898959875106812},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5275922417640686},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.4595334529876709},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.43611329793930054},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.4335041046142578},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4234410524368286},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38657844066619873},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2941434979438782},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13780474662780762},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13347181677818298}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9033724069595337},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7590459585189819},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7313856482505798},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6898959875106812},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5275922417640686},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4595334529876709},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.43611329793930054},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.4335041046142578},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4234410524368286},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38657844066619873},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2941434979438782},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13780474662780762},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13347181677818298},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981531","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1560021816","https://openalex.org/W1901129140","https://openalex.org/W1971086298","https://openalex.org/W2133844819","https://openalex.org/W2194775991","https://openalex.org/W2600383743","https://openalex.org/W2606794968","https://openalex.org/W2607968634","https://openalex.org/W2885093229","https://openalex.org/W2886851716","https://openalex.org/W2887922452","https://openalex.org/W2899479761","https://openalex.org/W2963045776","https://openalex.org/W2963316641","https://openalex.org/W2963416674","https://openalex.org/W2963867516","https://openalex.org/W2967115342","https://openalex.org/W2969202876","https://openalex.org/W2998031326","https://openalex.org/W3000500950","https://openalex.org/W3005244221","https://openalex.org/W3006017979","https://openalex.org/W3098410961","https://openalex.org/W3102129812","https://openalex.org/W3110653837","https://openalex.org/W3126830741","https://openalex.org/W3132401233","https://openalex.org/W3134297268","https://openalex.org/W3145284865","https://openalex.org/W3178901079","https://openalex.org/W3186141314","https://openalex.org/W3205428389","https://openalex.org/W3206335707","https://openalex.org/W3206869601"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4210818033"],"abstract_inverted_index":{"Safe":[0],"motion":[1,176],"planning":[2,6,177],"in":[3],"robotics":[4],"requires":[5],"into":[7],"space":[8,67,142],"which":[9,97],"has":[10],"been":[11],"verified":[12],"to":[13,59,87,165],"be":[14,70],"free":[15,66,141],"of":[16,29,32,53,139],"obstacles.":[17],"However,":[18],"obtaining":[19],"such":[20],"environment":[21],"representations":[22],"using":[23,100,113],"lidars":[24],"is":[25],"challenging":[26],"by":[27,145],"virtue":[28],"the":[30,51,73,137],"sparsity":[31],"their":[33],"depth":[34,48,90,94],"measurements.":[35],"We":[36,78,105,152],"present":[37],"a":[38,80,101,114,119,126,130,160],"learning-aided":[39],"3D":[40],"lidar":[41,47,75,128],"reconstruction":[42],"framework":[43],"that":[44,136,155],"upsamples":[45],"sparse":[46],"measurements":[49,76],"with":[50,63,72,83,93,149],"aid":[52],"overlapping":[54],"camera":[55],"images":[56,91],"so":[57],"as":[58],"generate":[60],"denser":[61,183],"reconstructions":[62],"more":[64,146],"definitively":[65],"than":[68,147],"can":[69,179],"achieved":[71],"raw":[74],"alone.":[77],"use":[79],"neural":[81],"network":[82],"an":[84],"encoder-decoder":[85],"structure":[86],"predict":[88],"dense":[89],"along":[92],"uncertainty":[95],"estimates":[96],"are":[98],"fused":[99],"volumetric":[102],"mapping":[103,129],"system.":[104],"conduct":[106],"experiments":[107,134],"on":[108,159],"real-world":[109,166],"outdoor":[110,167],"datasets":[111],"captured":[112],"handheld":[115],"sensing":[116],"device":[117],"and":[118],"legged":[120],"robot.":[121],"Using":[122],"input":[123],"data":[124],"from":[125,181],"16-beam":[127],"building":[131],"network,":[132],"our":[133,150,156],"showed":[135],"amount":[138],"estimated":[140],"was":[143],"increased":[144],"40%":[148],"approach.":[151],"also":[153],"show":[154],"approach":[157],"trained":[158],"synthetic":[161],"dataset":[162],"generalises":[163],"well":[164],"scenes":[168],"without":[169],"additional":[170],"fine-tuning.":[171],"Finally,":[172],"we":[173],"demonstrate":[174],"how":[175],"tasks":[178],"benefit":[180],"these":[182],"reconstructions.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}
