{"id":"https://openalex.org/W2275738541","doi":"https://doi.org/10.1109/lra.2015.2512958","title":"Hierarchical Voxel Block Hashing for Efficient Integration of Depth Images","display_name":"Hierarchical Voxel Block Hashing for Efficient Integration of Depth Images","publication_year":2015,"publication_date":"2015-12-29","ids":{"openalex":"https://openalex.org/W2275738541","doi":"https://doi.org/10.1109/lra.2015.2512958","mag":"2275738541"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2015.2512958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2015.2512958","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5028438329","display_name":"Olaf K\u00e4hler","orcid":null},"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":"Olaf Kahler","raw_affiliation_strings":["Department of Engineering Sciences, University of Oxford, Oxford, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Sciences, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067395390","display_name":"Victor Adrian Prisacariu","orcid":"https://orcid.org/0000-0002-0630-6129"},"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":"Victor Prisacariu","raw_affiliation_strings":["Department of Engineering Sciences, University of Oxford, Oxford, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Sciences, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106282912","display_name":"Julien Valentin","orcid":"https://orcid.org/0000-0001-8503-6325"},"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":"Julien Valentin","raw_affiliation_strings":["Department of Engineering Sciences, University of Oxford, Oxford, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Sciences, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101402996","display_name":"David W. Murray","orcid":"https://orcid.org/0000-0001-5309-5080"},"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":"David Murray","raw_affiliation_strings":["Department of Engineering Sciences, University of Oxford, Oxford, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Sciences, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5028438329"],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":101.1629,"has_fulltext":false,"cited_by_count":77,"citation_normalized_percentile":{"value":0.99804337,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"1","issue":"1","first_page":"192","last_page":"197"},"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/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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994999766349792,"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":0.8022509813308716},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.6788708567619324},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6433393955230713},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.6362217664718628},{"id":"https://openalex.org/keywords/hash-table","display_name":"Hash table","score":0.6292287707328796},{"id":"https://openalex.org/keywords/hash-function","display_name":"Hash function","score":0.6182453036308289},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.6131200194358826},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5940039753913879},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5166545510292053},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.511188805103302},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47599923610687256},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.45919761061668396},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.4334483742713928},{"id":"https://openalex.org/keywords/data-structure","display_name":"Data structure","score":0.42603379487991333},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4098030924797058},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.36602213978767395},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3325701057910919},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.18582192063331604},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11070165038108826}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8022509813308716},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.6788708567619324},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6433393955230713},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.6362217664718628},{"id":"https://openalex.org/C67388219","wikidata":"https://www.wikidata.org/wiki/Q207440","display_name":"Hash table","level":3,"score":0.6292287707328796},{"id":"https://openalex.org/C99138194","wikidata":"https://www.wikidata.org/wiki/Q183427","display_name":"Hash function","level":2,"score":0.6182453036308289},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.6131200194358826},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5940039753913879},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5166545510292053},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.511188805103302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47599923610687256},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.45919761061668396},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.4334483742713928},{"id":"https://openalex.org/C162319229","wikidata":"https://www.wikidata.org/wiki/Q175263","display_name":"Data structure","level":2,"score":0.42603379487991333},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4098030924797058},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.36602213978767395},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3325701057910919},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.18582192063331604},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11070165038108826},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2015.2512958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2015.2512958","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1197383446","display_name":null,"funder_award_id":"EP/J014990/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1625949922","https://openalex.org/W1987648924","https://openalex.org/W1993095151","https://openalex.org/W2009422376","https://openalex.org/W2013345945","https://openalex.org/W2016285927","https://openalex.org/W2032871891","https://openalex.org/W2042819305","https://openalex.org/W2060674973","https://openalex.org/W2071398263","https://openalex.org/W2071906076","https://openalex.org/W2099940712","https://openalex.org/W2108134361","https://openalex.org/W2135209101","https://openalex.org/W2160590758","https://openalex.org/W2237767100","https://openalex.org/W3002795340","https://openalex.org/W3140968660"],"related_works":["https://openalex.org/W1835589799","https://openalex.org/W2144265691","https://openalex.org/W1605991620","https://openalex.org/W4387251676","https://openalex.org/W4385261619","https://openalex.org/W2064670891","https://openalex.org/W2297928690","https://openalex.org/W1526349202","https://openalex.org/W2914106632","https://openalex.org/W4387083909"],"abstract_inverted_index":{"Many":[0],"modern":[1],"3D":[2,64],"reconstruction":[3],"methods":[4],"accumulate":[5],"information":[6],"volumetrically":[7],"using":[8],"truncated":[9],"signed":[10],"distance":[11],"functions.":[12],"While":[13],"this":[14],"usually":[15],"imposes":[16],"a":[17,28,43,50,58,127],"regular":[18],"grid":[19,145],"with":[20,167],"fixed":[21],"voxel":[22],"size,":[23],"not":[24],"all":[25],"parts":[26,117],"of":[27,39,77,111,118,142],"scene":[29],"necessarily":[30],"need":[31],"to":[32],"be":[33,101],"represented":[34],"at":[35,160],"the":[36,62,78,119,123,140,143],"same":[37],"level":[38],"detail.":[40],"For":[41],"example,":[42],"flat":[44],"table":[45],"needs":[46],"less":[47],"detail":[48],"than":[49,71],"highly":[51],"structured":[52],"keyboard":[53],"on":[54,146],"it.":[55],"We":[56,87,121],"introduce":[57],"novel":[59,124],"representation":[60,125,158],"for":[61,73,115,129],"volumetric":[63],"data":[65,91],"that":[66,89,99],"uses":[67],"hash":[68],"functions":[69,98],"rather":[70],"trees":[72],"accessing":[74],"individual":[75],"blocks":[76],"scene,":[79],"but":[80],"which":[81],"still":[82],"provides":[83,93],"different":[84,116],"resolution":[85],"levels.":[86],"show":[88],"our":[90,152],"structure":[92],"efficient":[94],"access":[95],"and":[96,105,132,137],"manipulation":[97],"can":[100],"very":[102],"well":[103],"parallelised,":[104],"also":[106,138],"describe":[107],"an":[108],"automatic":[109],"way":[110],"choosing":[112],"appropriate":[113],"resolutions":[114],"scene.":[120],"embed":[122],"in":[126,154],"system":[128,153],"simultaneous":[130],"localization":[131],"mapping":[133],"from":[134],"RGB-D":[135],"imagery":[136],"investigate":[139],"implications":[141],"irregular":[144],"interpolation":[147],"routines.":[148],"Finally,":[149],"we":[150],"evaluate":[151],"experiments,":[155],"demonstrating":[156],"state-of-the-art":[157],"accuracy":[159],"typical":[161],"frame-rates":[162],"around":[163],"100":[164],"Hz,":[165],"along":[166],"40%":[168],"memory":[169],"savings.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-03-15T09:29:46.208133","created_date":"2025-10-10T00:00:00"}