{"id":"https://openalex.org/W4313196735","doi":"https://doi.org/10.1109/iros47612.2022.9982050","title":"Towards High-Definition Maps: a Framework Leveraging Semantic Segmentation to Improve NDT Map Compression and Descriptivity","display_name":"Towards High-Definition Maps: a Framework Leveraging Semantic Segmentation to Improve NDT Map Compression and Descriptivity","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313196735","doi":"https://doi.org/10.1109/iros47612.2022.9982050"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982050","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982050","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":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2301.03956","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039132101","display_name":"Petri Manninen","orcid":"https://orcid.org/0000-0003-1289-2811"},"institutions":[{"id":"https://openalex.org/I33876163","display_name":"Finnish Geospatial Research Institute","ror":"https://ror.org/01zv3gf04","country_code":"FI","type":"facility","lineage":["https://openalex.org/I33876163"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Petri Manninen","raw_affiliation_strings":["Finnish Geospatial Research Institute (FGI), National Land Survey of Finland (NLS),Department of Remote Sensing and Photogrammetry,Espoo,Finland,02150"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Finnish Geospatial Research Institute (FGI), National Land Survey of Finland (NLS),Department of Remote Sensing and Photogrammetry,Espoo,Finland,02150","institution_ids":["https://openalex.org/I33876163"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084116684","display_name":"Heikki Hyyti","orcid":"https://orcid.org/0000-0003-4664-6221"},"institutions":[{"id":"https://openalex.org/I33876163","display_name":"Finnish Geospatial Research Institute","ror":"https://ror.org/01zv3gf04","country_code":"FI","type":"facility","lineage":["https://openalex.org/I33876163"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Heikki Hyyti","raw_affiliation_strings":["Finnish Geospatial Research Institute (FGI), National Land Survey of Finland (NLS),Department of Remote Sensing and Photogrammetry,Espoo,Finland,02150"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Finnish Geospatial Research Institute (FGI), National Land Survey of Finland (NLS),Department of Remote Sensing and Photogrammetry,Espoo,Finland,02150","institution_ids":["https://openalex.org/I33876163"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080940147","display_name":"Ville Kyrki","orcid":"https://orcid.org/0000-0002-5230-5549"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Ville Kyrki","raw_affiliation_strings":["School of Electrical Engineering, Aalto University,Espoo,Finland,02150"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University,Espoo,Finland,02150","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075175878","display_name":"Jyri Maanp\u00e4\u00e4","orcid":"https://orcid.org/0000-0001-6772-9611"},"institutions":[{"id":"https://openalex.org/I33876163","display_name":"Finnish Geospatial Research Institute","ror":"https://ror.org/01zv3gf04","country_code":"FI","type":"facility","lineage":["https://openalex.org/I33876163"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jyri Maanp\u00e4\u00e4","raw_affiliation_strings":["Finnish Geospatial Research Institute (FGI), National Land Survey of Finland (NLS),Department of Remote Sensing and Photogrammetry,Espoo,Finland,02150"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Finnish Geospatial Research Institute (FGI), National Land Survey of Finland (NLS),Department of Remote Sensing and Photogrammetry,Espoo,Finland,02150","institution_ids":["https://openalex.org/I33876163"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079762209","display_name":"Josef Taher","orcid":"https://orcid.org/0000-0002-3142-731X"},"institutions":[{"id":"https://openalex.org/I33876163","display_name":"Finnish Geospatial Research Institute","ror":"https://ror.org/01zv3gf04","country_code":"FI","type":"facility","lineage":["https://openalex.org/I33876163"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Josef Taher","raw_affiliation_strings":["Finnish Geospatial Research Institute (FGI), National Land Survey of Finland (NLS),Department of Remote Sensing and Photogrammetry,Espoo,Finland,02150"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Finnish Geospatial Research Institute (FGI), National Land Survey of Finland (NLS),Department of Remote Sensing and Photogrammetry,Espoo,Finland,02150","institution_ids":["https://openalex.org/I33876163"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033042071","display_name":"Juha Hyypp\u00e4","orcid":"https://orcid.org/0000-0001-5360-4017"},"institutions":[{"id":"https://openalex.org/I33876163","display_name":"Finnish Geospatial Research Institute","ror":"https://ror.org/01zv3gf04","country_code":"FI","type":"facility","lineage":["https://openalex.org/I33876163"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Juha Hyypp\u00e4","raw_affiliation_strings":["Finnish Geospatial Research Institute (FGI), National Land Survey of Finland (NLS),Department of Remote Sensing and Photogrammetry,Espoo,Finland,02150"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Finnish Geospatial Research Institute (FGI), National Land Survey of Finland (NLS),Department of Remote Sensing and Photogrammetry,Espoo,Finland,02150","institution_ids":["https://openalex.org/I33876163"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5370","last_page":"5377"},"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9955000281333923,"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/nondestructive-testing","display_name":"Nondestructive testing","score":0.9367722868919373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5672222375869751},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.5151752233505249},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.48063674569129944},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.45969358086586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45460623502731323},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.42658984661102295},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3647822141647339},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14674216508865356}],"concepts":[{"id":"https://openalex.org/C56529433","wikidata":"https://www.wikidata.org/wiki/Q626700","display_name":"Nondestructive testing","level":2,"score":0.9367722868919373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5672222375869751},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.5151752233505249},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.48063674569129944},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.45969358086586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45460623502731323},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.42658984661102295},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3647822141647339},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14674216508865356},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros47612.2022.9982050","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982050","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"},{"id":"pmh:oai:arXiv.org:2301.03956","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2301.03956","pdf_url":"https://arxiv.org/pdf/2301.03956","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":null,"raw_type":"text"},{"id":"pmh:oai:helda.helsinki.fi:10138/356452","is_oa":true,"landing_page_url":"http://hdl.handle.net/10138/356452","pdf_url":null,"source":{"id":"https://openalex.org/S4210213322","display_name":"Ty\u00f6v\u00e4entutkimus Vuosikirja","issn_l":"0784-1272","issn":["0784-1272","1459-7780"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conferenceObject"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2301.03956","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2301.03956","pdf_url":"https://arxiv.org/pdf/2301.03956","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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G887247231","display_name":null,"funder_award_id":"337656,319011,318437","funder_id":"https://openalex.org/F4320321108","funder_display_name":"Academy of Finland"}],"funders":[{"id":"https://openalex.org/F4320321108","display_name":"Academy of Finland","ror":"https://ror.org/05k73zm37"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313196735.pdf"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W35490052","https://openalex.org/W1650975994","https://openalex.org/W2012502415","https://openalex.org/W2049981393","https://openalex.org/W2073459066","https://openalex.org/W2085261163","https://openalex.org/W2125817243","https://openalex.org/W2152864241","https://openalex.org/W2167724667","https://openalex.org/W2461937780","https://openalex.org/W2476752140","https://openalex.org/W2538680223","https://openalex.org/W2560609797","https://openalex.org/W2750632489","https://openalex.org/W2774861278","https://openalex.org/W2809605404","https://openalex.org/W2901136733","https://openalex.org/W2957348723","https://openalex.org/W2971092880","https://openalex.org/W2991216808","https://openalex.org/W2995932445","https://openalex.org/W2998184591","https://openalex.org/W3012494314","https://openalex.org/W3092861917","https://openalex.org/W3094653248","https://openalex.org/W3099727102","https://openalex.org/W3109154950","https://openalex.org/W3124420883","https://openalex.org/W3157635489","https://openalex.org/W3177330511","https://openalex.org/W4200352863","https://openalex.org/W4243493583","https://openalex.org/W4246070010","https://openalex.org/W4256669726","https://openalex.org/W4287593861","https://openalex.org/W6668990524","https://openalex.org/W6756486208","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W2043230455","https://openalex.org/W3002438267","https://openalex.org/W3212166813","https://openalex.org/W2349790901","https://openalex.org/W2332954643","https://openalex.org/W4389574804","https://openalex.org/W2967842629","https://openalex.org/W4237804270","https://openalex.org/W4399442168","https://openalex.org/W2114282491"],"abstract_inverted_index":{"High-Definition":[0],"(HD)":[1],"maps":[2,146],"are":[3],"needed":[4],"for":[5],"robust":[6],"navigation":[7],"of":[8,34,42,49,61,144,157],"autonomous":[9],"vehicles,":[10],"limited":[11],"by":[12],"the":[13,92,113,119,133,154,160],"on-board":[14],"storage":[15],"capacity.":[16],"To":[17,64],"solve":[18],"this,":[19],"we":[20,67,138],"propose":[21],"a":[22,80],"novel":[23],"framework,":[24],"Environment-Aware":[25],"Normal":[26],"Distributions":[27],"Transform":[28],"(EA-NDT),":[29],"that":[30,72,140],"significantly":[31,148],"improves":[32],"compression":[33,130],"standard":[35,62,114,120,161],"NDT":[36,115],"map":[37,110,129],"representation.":[38,116],"The":[39],"compressed":[40],"representation":[41,111],"EA-NDT":[43,96,108,122,141],"is":[44,142],"based":[45],"on":[46],"semantic-aided":[47],"clustering":[48],"point":[50,81],"clouds":[51],"resulting":[52],"in":[53],"more":[54],"optimal":[55],"cells":[56,60,89,158],"compared":[57],"to":[58,90,118],"grid":[59],"NDT.":[63,162],"evaluate":[65],"EA-NDT,":[66],"present":[68],"an":[69,95,101],"open-source":[70],"implementation":[71],"extracts":[73],"planar":[74],"and":[75,83,106],"cylindrical":[76],"primitive":[77],"features":[78],"from":[79],"cloud":[82],"further":[84],"divides":[85],"them":[86],"into":[87],"smaller":[88],"represent":[91],"data":[93],"as":[94],"HD":[97,109],"map.":[98],"We":[99],"collected":[100],"open":[102],"suburban":[103],"environment":[104],"dataset":[105],"evaluated":[107],"against":[112],"Compared":[117],"NDT,":[121],"achieved":[123],"consistently":[124],"at":[125],"least":[126],"1.5\u00d7":[127],"higher":[128,149],"while":[131],"maintaining":[132],"same":[134,155],"descriptive":[135],"capability.":[136],"Moreover,":[137],"showed":[139],"capable":[143],"producing":[145],"with":[147],"descriptivity":[150],"score":[151],"when":[152],"using":[153],"number":[156],"than":[159]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
