{"id":"https://openalex.org/W2981952124","doi":"https://doi.org/10.1109/lra.2018.2794602","title":"DCT Maps: Compact Differentiable Lidar Maps Based on the Cosine Transform","display_name":"DCT Maps: Compact Differentiable Lidar Maps Based on the Cosine Transform","publication_year":2018,"publication_date":"2018-01-17","ids":{"openalex":"https://openalex.org/W2981952124","doi":"https://doi.org/10.1109/lra.2018.2794602","mag":"2981952124"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2794602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2794602","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.11147","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072404160","display_name":"Alexander Schaefer","orcid":"https://orcid.org/0000-0002-5207-8403"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Alexander Schaefer","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5207-8403","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101435042","display_name":"Lukas Luft","orcid":"https://orcid.org/0000-0002-9684-3680"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lukas Luft","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9684-3680","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5680-6500","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5072404160"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":2.9178,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.92952704,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"3","issue":"2","first_page":"1002","last_page":"1009"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9930999875068665,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9918000102043152,"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/discrete-cosine-transform","display_name":"Discrete cosine transform","score":0.5927499532699585},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5475616455078125},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.5289759039878845},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5060755610466003},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4713513255119324},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.46621257066726685},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.4572020471096039},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4470125734806061},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40876829624176025},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33256417512893677},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2107016146183014},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.18928346037864685},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15601885318756104},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13321590423583984}],"concepts":[{"id":"https://openalex.org/C2221639","wikidata":"https://www.wikidata.org/wiki/Q2877","display_name":"Discrete cosine transform","level":3,"score":0.5927499532699585},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5475616455078125},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.5289759039878845},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5060755610466003},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4713513255119324},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.46621257066726685},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.4572020471096039},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4470125734806061},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40876829624176025},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33256417512893677},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2107016146183014},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.18928346037864685},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15601885318756104},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13321590423583984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2018.2794602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2794602","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"},{"id":"pmh:oai:arXiv.org:1910.11147","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.11147","pdf_url":"https://arxiv.org/pdf/1910.11147","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:freidok.uni-freiburg.de:270946","is_oa":false,"landing_page_url":"https://freidok.uni-freiburg.de/data/270946","pdf_url":null,"source":{"id":"https://openalex.org/S4306401057","display_name":"FreiDok plus (Universit\u00e4tsbibliothek Freiburg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I161046081","host_organization_name":"University of Freiburg","host_organization_lineage":["https://openalex.org/I161046081"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and automation letters. - 3, 2 (2018) , 1002-1009, ISSN: 2377-3766","raw_type":"article"},{"id":"pmh:oai:zenodo.org:3498734","is_oa":true,"landing_page_url":"https://zenodo.org/record/3498734","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.11147","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.11147","pdf_url":"https://arxiv.org/pdf/1910.11147","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6499999761581421}],"awards":[{"id":"https://openalex.org/G7829537384","display_name":null,"funder_award_id":"644227","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W11456412","https://openalex.org/W102654645","https://openalex.org/W1567242735","https://openalex.org/W1599888605","https://openalex.org/W1947421145","https://openalex.org/W1977189000","https://openalex.org/W1983043788","https://openalex.org/W1986049249","https://openalex.org/W1987648924","https://openalex.org/W2010806162","https://openalex.org/W2011654214","https://openalex.org/W2027438599","https://openalex.org/W2037872181","https://openalex.org/W2048780324","https://openalex.org/W2057520584","https://openalex.org/W2068303195","https://openalex.org/W2071158641","https://openalex.org/W2074954154","https://openalex.org/W2107153006","https://openalex.org/W2107386393","https://openalex.org/W2119404509","https://openalex.org/W2124123377","https://openalex.org/W2124825847","https://openalex.org/W2131163093","https://openalex.org/W2131991591","https://openalex.org/W2143220699","https://openalex.org/W2154418813","https://openalex.org/W2164490101","https://openalex.org/W2167061621","https://openalex.org/W2291737362","https://openalex.org/W2569527682","https://openalex.org/W2587815505","https://openalex.org/W2737131425","https://openalex.org/W2771295808","https://openalex.org/W3098085399","https://openalex.org/W3099971253","https://openalex.org/W3104032846","https://openalex.org/W4285719527","https://openalex.org/W6600466431","https://openalex.org/W6675823452","https://openalex.org/W6785586565"],"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/W2352438249","https://openalex.org/W4308236838","https://openalex.org/W2035566389","https://openalex.org/W4293482588"],"abstract_inverted_index":{"Most":[0],"robot":[1],"mapping":[2,50],"techniques":[3],"for":[4,140],"lidar":[5,129,164],"sensors":[6],"tessellate":[7],"the":[8,18,59,65,74,77,82,86,92,96,111,134,138,146,181],"environment":[9,19],"into":[10],"pixels":[11],"or":[12],"voxels":[13],"and":[14,35,90,176],"assume":[15],"uniformity":[16,63],"of":[17,61,64,72,95,137,151],"within":[20],"them.":[21],"Although":[22],"intuitive,":[23],"this":[24,40,144],"representation":[25],"entails":[26],"disadvantages:":[27],"The":[28],"resulting":[29],"grid":[30,170],"maps":[31,162],"exhibit":[32],"aliasing":[33],"effects":[34],"are":[36],"not":[37],"differentiable.":[38],"In":[39,143],"letter,":[41],"we":[42,80,115],"address":[43],"these":[44],"drawbacks":[45],"by":[46],"introducing":[47],"a":[48,105,128],"novel":[49],"technique":[51],"that":[52],"neither":[53],"relies":[54],"on":[55,58],"tessellation":[56],"nor":[57],"assumption":[60],"piecewise":[62],"space,":[66],"without":[67],"increasing":[68],"memory":[69,183],"requirements.":[70],"Instead":[71],"representing":[73],"map":[75,83,121,147],"in":[76,85,110,126,187],"position":[78,112],"domain,":[79,113],"store":[81],"parameters":[84],"discrete":[87,98],"frequency":[88],"domain":[89],"leverage":[91],"continuous":[93],"extension":[94],"inverse":[97],"cosine":[99],"transform":[100],"to":[101,104,123,158],"convert":[102],"them":[103],"continuously":[106],"differentiable":[107],"scalar":[108],"field":[109],"which":[114,132],"call":[116],"DCT":[117,120,161],"map.":[118],"A":[119],"assigns":[122],"each":[124],"point":[125],"space":[127,139],"decay":[130],"rate,":[131],"models":[133],"local":[135],"permeability":[136],"laser":[141,153],"rays.":[142],"way,":[145],"can":[148],"describe":[149],"objects":[150],"different":[152],"permeabilities,":[154],"from":[155],"completely":[156,159],"opaque":[157],"transparent.":[160],"represent":[163],"measurements":[165],"significantly":[166],"more":[167],"accurate":[168],"than":[169],"maps,":[171,175,178],"Gaussian":[172],"process":[173],"occupancy":[174],"Hilbert":[177],"all":[179],"with":[180],"same":[182],"requirements,":[184],"as":[185],"demonstrated":[186],"our":[188],"real-world":[189],"experiments.":[190]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-11-23T00:00:00"}