{"id":"https://openalex.org/W3210059158","doi":"https://doi.org/10.1109/itsc48978.2021.9564805","title":"Efficient Grid Map Data Structures for Autonomous Driving in Large-Scale Environments","display_name":"Efficient Grid Map Data Structures for Autonomous Driving in Large-Scale Environments","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3210059158","doi":"https://doi.org/10.1109/itsc48978.2021.9564805","mag":"3210059158"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9564805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564805","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","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/A5027274307","display_name":"Constantin Wellhausen","orcid":null},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Constantin Wellhausen","raw_affiliation_strings":["Cognitive Neuroinformatics Group, University of Bremen, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Neuroinformatics Group, University of Bremen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039095084","display_name":"Joachim Clemens","orcid":"https://orcid.org/0000-0003-1788-0852"},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joachim Clemens","raw_affiliation_strings":["Cognitive Neuroinformatics Group, University of Bremen, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Neuroinformatics Group, University of Bremen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069823460","display_name":"Kerstin Schill","orcid":null},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kerstin Schill","raw_affiliation_strings":["Cognitive Neuroinformatics Group, University of Bremen, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Neuroinformatics Group, University of Bremen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3088,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.5599518,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"12","issue":null,"first_page":"2855","last_page":"2862"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T11106","display_name":"Data Management and Algorithms","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12292","display_name":"Graph Theory and Algorithms","score":0.9922000169754028,"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/quadtree","display_name":"Quadtree","score":0.8592954874038696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8017458319664001},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.753007709980011},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5993642210960388},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5042592287063599},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.4654702842235565},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.45411136746406555},{"id":"https://openalex.org/keywords/data-structure","display_name":"Data structure","score":0.4226393699645996},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.4140767455101013},{"id":"https://openalex.org/keywords/window","display_name":"Window (computing)","score":0.41171106696128845},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33250194787979126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2672802209854126},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.1248231828212738},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.1060386598110199},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09878334403038025},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08225083351135254}],"concepts":[{"id":"https://openalex.org/C151416825","wikidata":"https://www.wikidata.org/wiki/Q934791","display_name":"Quadtree","level":2,"score":0.8592954874038696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8017458319664001},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.753007709980011},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5993642210960388},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5042592287063599},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.4654702842235565},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.45411136746406555},{"id":"https://openalex.org/C162319229","wikidata":"https://www.wikidata.org/wiki/Q175263","display_name":"Data structure","level":2,"score":0.4226393699645996},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.4140767455101013},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.41171106696128845},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33250194787979126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2672802209854126},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.1248231828212738},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.1060386598110199},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09878334403038025},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08225083351135254},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc48978.2021.9564805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564805","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321602","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt","ror":"https://ror.org/04bwf3e34"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1977935965","https://openalex.org/W1999050017","https://openalex.org/W2027438599","https://openalex.org/W2119984419","https://openalex.org/W2145951052","https://openalex.org/W2147224017","https://openalex.org/W2336416123","https://openalex.org/W2341459421","https://openalex.org/W2411093439","https://openalex.org/W2517645092","https://openalex.org/W2806340142","https://openalex.org/W2901884054","https://openalex.org/W2963440325","https://openalex.org/W2964064111","https://openalex.org/W2972966994","https://openalex.org/W3085975751","https://openalex.org/W3121103700","https://openalex.org/W3145128584","https://openalex.org/W4246219036","https://openalex.org/W4251391716","https://openalex.org/W6677702289","https://openalex.org/W6788590337"],"related_works":["https://openalex.org/W2949856845","https://openalex.org/W2105246008","https://openalex.org/W2169751639","https://openalex.org/W97492882","https://openalex.org/W1986402228","https://openalex.org/W2133841619","https://openalex.org/W4205566295","https://openalex.org/W2038437763","https://openalex.org/W1984342875","https://openalex.org/W2766124012"],"abstract_inverted_index":{"In":[0],"this":[1,51],"paper,":[2],"we":[3,113,141],"investigate":[4],"data":[5,49,83],"structures":[6,84],"for":[7,80],"grid":[8,37,52],"mapping":[9],"in":[10,26,65],"autonomous":[11],"driving.":[12],"While":[13],"the":[14,27,31,42,69,74,81,146,150],"traversed":[15],"environment":[16],"can":[17,60],"be":[18,61],"virtually":[19],"infinitely":[20],"large,":[21],"one":[22],"is":[23,44,54],"mainly":[24],"interested":[25],"immediate":[28],"surroundings":[29],"of":[30,122,133,149],"vehicle.":[32,75],"Thus,":[33],"a":[34,96,103,107],"world-fixed,":[35],"square":[36],"map":[38,53,128],"centered":[39],"roughly":[40],"at":[41],"vehicle":[43],"used.":[45],"For":[46],"an":[47],"efficient":[48],"handling,":[50],"subdivided":[55],"into":[56],"multiple":[57],"submaps,":[58],"which":[59],"added":[62],"and":[63,98,106,120],"removed":[64],"order":[66],"to":[67],"move":[68],"currently":[70],"considered":[71],"window":[72],"with":[73],"We":[76,101],"evaluate":[77],"different":[78,91,134],"choices":[79],"underlying":[82],"(array,":[85],"hashmap,":[86],"quadtree)":[87],"as":[88,90],"well":[89],"submap":[92],"sizes":[93],"on":[94,109,130,145],"both":[95],"theoretical":[97],"practical":[99],"level:":[100],"provide":[102],"complexity":[104],"analysis":[105],"discussion":[108],"possible":[110],"overheads.":[111],"Furthermore,":[112],"present":[114],"empirical":[115],"results":[116],"regarding":[117],"memory":[118],"consumption":[119],"runtime":[121],"common":[123],"operations":[124],"(mapping,":[125],"scan":[126],"matching,":[127],"retrieval)":[129],"real-world":[131],"datasets":[132],"scenarios":[135],"(sub-urb,":[136],"rural":[137],"area,":[138],"highway).":[139],"Finally,":[140],"give":[142],"recommendations":[143],"depending":[144],"actual":[147],"requirements":[148],"used":[151],"algorithm.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}