{"id":"https://openalex.org/W1491157868","doi":"https://doi.org/10.1109/ivs.2015.7225694","title":"Clustering improved grid map registration using the normal distribution transform","display_name":"Clustering improved grid map registration using the normal distribution transform","publication_year":2015,"publication_date":"2015-06-01","ids":{"openalex":"https://openalex.org/W1491157868","doi":"https://doi.org/10.1109/ivs.2015.7225694","mag":"1491157868"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2015.7225694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2015.7225694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Intelligent Vehicles Symposium (IV)","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/A5104353457","display_name":"Matthias Rapp","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Matthias Rapp","raw_affiliation_strings":["Institute of Measurement, Control and Microtechnology, University of Ulm, Germany","Institute of Measurement, Control and Microtechnology at University of Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology, University of Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology at University of Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082982566","display_name":"Michael Barjenbruch","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Barjenbruch","raw_affiliation_strings":["Institute of Measurement, Control and Microtechnology, University of Ulm, Germany","Institute of Measurement, Control and Microtechnology at University of Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology, University of Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology at University of Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042046215","display_name":"Markus Hahn","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Hahn","raw_affiliation_strings":["Daimler AG, Ulm, Germany","Daimler AG in Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Daimler AG, Ulm, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"Daimler AG in Ulm, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089546333","display_name":"J\u00fcrgen Dickmann","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jurgen Dickmann","raw_affiliation_strings":["Daimler AG, Ulm, Germany","Daimler AG in Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Daimler AG, Ulm, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"Daimler AG in Ulm, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085054529","display_name":"Klaus Dietmayer","orcid":"https://orcid.org/0000-0002-1651-014X"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaus Dietmayer","raw_affiliation_strings":["Institute of Measurement, Control and Microtechnology, University of Ulm, Germany","Institute of Measurement, Control and Microtechnology at University of Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology, University of Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Institute of Measurement, Control and Microtechnology at University of Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5104353457"],"corresponding_institution_ids":["https://openalex.org/I196349391"],"apc_list":null,"apc_paid":null,"fwci":6.4862,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.95516295,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"96","issue":null,"first_page":"249","last_page":"254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9940000176429749,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9926999807357788,"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/cluster-analysis","display_name":"Cluster analysis","score":0.6941797733306885},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.6687330007553101},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6533828973770142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6182412505149841},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6178328990936279},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5644764304161072},{"id":"https://openalex.org/keywords/nondestructive-testing","display_name":"Nondestructive testing","score":0.4915793836116791},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.4504129886627197},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4293532073497772},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2869366705417633},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27167606353759766},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1349593997001648},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.08651062846183777}],"concepts":[{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.6941797733306885},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.6687330007553101},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6533828973770142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6182412505149841},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6178328990936279},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5644764304161072},{"id":"https://openalex.org/C56529433","wikidata":"https://www.wikidata.org/wiki/Q626700","display_name":"Nondestructive testing","level":2,"score":0.4915793836116791},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.4504129886627197},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4293532073497772},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2869366705417633},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27167606353759766},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1349593997001648},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.08651062846183777},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2015.7225694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2015.7225694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W78175635","https://openalex.org/W170770739","https://openalex.org/W1519012317","https://openalex.org/W1542779841","https://openalex.org/W1567242735","https://openalex.org/W1586173270","https://openalex.org/W1673310716","https://openalex.org/W2029724021","https://openalex.org/W2046428919","https://openalex.org/W2049981393","https://openalex.org/W2083624955","https://openalex.org/W2084480077","https://openalex.org/W2092371500","https://openalex.org/W2131439959","https://openalex.org/W2145178709","https://openalex.org/W2150593711","https://openalex.org/W2154418813","https://openalex.org/W2158579290","https://openalex.org/W2963881442","https://openalex.org/W6630774135","https://openalex.org/W6632680807","https://openalex.org/W6634982934","https://openalex.org/W6637131181"],"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/W2967842629","https://openalex.org/W2352438249","https://openalex.org/W4308236838","https://openalex.org/W2035566389","https://openalex.org/W4293482588"],"abstract_inverted_index":{"Grid":[0],"map":[1,45],"registration":[2,46,79,127],"is":[3,47,60,130],"an":[4,26,125],"important":[5],"field":[6],"in":[7,11,32,77,124],"mobile":[8],"robotics.":[9],"Applications":[10],"which":[12,129],"multiple":[13,19],"robots":[14],"are":[15],"involved":[16],"benefit":[17],"from":[18],"aligned":[20],"grid":[21,44,73,95,117],"maps":[22],"as":[23],"they":[24],"provide":[25],"efficient":[27],"exploration":[28],"of":[29,89,105],"the":[30,58,90,106,112],"environment":[31],"parallel.":[33],"In":[34],"this":[35],"paper,":[36],"a":[37],"normal":[38],"distribution":[39],"transform":[40],"(NDT)-based":[41],"approach":[42],"for":[43,115],"presented.":[48],"For":[49],"simultaneous":[50],"mapping":[51],"and":[52,93],"localization":[53],"approaches":[54],"on":[55,132,136],"laser":[56,66],"data,":[57],"NDT":[59,75,108],"widely":[61],"used":[62],"to":[63,68,87],"align":[64],"new":[65],"scans":[67],"reference":[69],"scans.":[70],"The":[71],"original":[72,107],"quantization-based":[74],"results":[76,123],"good":[78],"performances":[80],"but":[81],"has":[82],"poor":[83],"convergence":[84,113],"properties":[85],"due":[86],"discontinuities":[88],"optimization":[91],"function":[92],"absolute":[94],"resolution.":[96],"This":[97],"paper":[98],"shows":[99],"that":[100],"clustering":[101,121],"techniques":[102],"overcome":[103],"disadvantages":[104],"by":[109],"significantly":[110],"improving":[111],"basin":[114],"aligning":[116],"maps.":[118],"A":[119],"multi-scale":[120],"method":[122],"improved":[126],"performance":[128],"shown":[131],"real":[133],"world":[134],"experiments":[135],"radar":[137],"data.":[138]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
