{"id":"https://openalex.org/W2785720327","doi":"https://doi.org/10.1109/lra.2018.2797317","title":"Detecting Changes in the Environment Based on Full Posterior Distributions Over Real-Valued Grid Maps","display_name":"Detecting Changes in the Environment Based on Full Posterior Distributions Over Real-Valued Grid Maps","publication_year":2018,"publication_date":"2018-01-24","ids":{"openalex":"https://openalex.org/W2785720327","doi":"https://doi.org/10.1109/lra.2018.2797317","mag":"2785720327"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2797317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2797317","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":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3494249","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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":true,"raw_author_name":"Lukas Luft","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9684-3680","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","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":false,"raw_author_name":"Alexander Schaefer","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5207-8403","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102124603","display_name":"Tobias Schubert","orcid":null},"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":"Tobias Schubert","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, 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, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5680-6500","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101435042"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":1.523,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.86690326,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"3","issue":"2","first_page":"1299","last_page":"1305"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10136","display_name":"Statistical Methods and Inference","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2613","display_name":"Statistics and Probability"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/grid","display_name":"Grid","score":0.5944029688835144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47195568680763245},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2528851628303528},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.20166626572608948}],"concepts":[{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5944029688835144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47195568680763245},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2528851628303528},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.20166626572608948}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2018.2797317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2797317","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:freidok.uni-freiburg.de:270947","is_oa":false,"landing_page_url":"https://freidok.uni-freiburg.de/data/270947","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) , 1299-1305, ISSN: 2377-3766","raw_type":"article"},{"id":"pmh:oai:zenodo.org:3494249","is_oa":true,"landing_page_url":"https://zenodo.org/record/3494249","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:zenodo.org:3494249","is_oa":true,"landing_page_url":"https://zenodo.org/record/3494249","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"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1519865121","https://openalex.org/W1567242735","https://openalex.org/W1572232541","https://openalex.org/W1601378499","https://openalex.org/W1611476298","https://openalex.org/W1963849668","https://openalex.org/W1999050017","https://openalex.org/W2037803129","https://openalex.org/W2048780324","https://openalex.org/W2093593306","https://openalex.org/W2129071302","https://openalex.org/W2135921839","https://openalex.org/W2155569517","https://openalex.org/W2161426450","https://openalex.org/W2167016823","https://openalex.org/W2168175751","https://openalex.org/W2196524641","https://openalex.org/W2587815505","https://openalex.org/W2610207162","https://openalex.org/W2771295808","https://openalex.org/W3099971253","https://openalex.org/W3104032846","https://openalex.org/W3143919370","https://openalex.org/W4236715194","https://openalex.org/W6631016850","https://openalex.org/W6636175460"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2350741829","https://openalex.org/W2130043461","https://openalex.org/W2530322880"],"abstract_inverted_index":{"To":[0],"detect":[1],"changes":[2],"in":[3,63,166,177,233],"an":[4,87,113],"environment,":[5],"one":[6],"has":[7,42,57],"to":[8,78,95,120,162,169],"decide":[9,96],"whether":[10,97],"a":[11,19,39,54,156,175],"set":[12,20],"of":[13,21,100,126,136,144,190,198],"recent":[14],"observations":[15,101],"is":[16,30,51,86,93,119],"incompatible":[17],"with":[18],"previous":[22],"observations.":[23],"For":[24],"binary,":[25],"lidar-based":[26],"grid":[27,148,192],"maps,":[28],"this":[29],"essentially":[31],"the":[32,35,49,104,123,127,131,138,170,178,183,196,199,207,212],"case":[33],"when":[34,48],"laser":[36],"beam":[37,50],"traverses":[38],"voxel":[40,55],"that":[41,56,172,194,226],"been":[43,58,151],"observed":[44,59],"as":[45,60],"occupied,":[46],"or":[47],"reflected":[52],"by":[53,81,129],"empty.":[61],"However,":[62],"real-world":[64,236],"environments,":[65],"some":[66],"voxels":[67,76],"are":[68],"neither":[69],"completely":[70,73],"occupied":[71],"nor":[72],"free.":[74],"These":[75],"have":[77,150],"be":[79],"modeled":[80],"real-valued":[82,147,191],"variables,":[83],"whose":[84],"estimation":[85,128],"inherently":[88],"statistical":[89,124],"process.":[90],"Thus,":[91],"it":[92,173],"nontrivial":[94],"two":[98],"sets":[99],"emerge":[102],"from":[103,112],"same":[105],"underlying":[106],"true":[107],"map":[108,133,180,193],"values,":[109],"and":[110,211,219,224,235],"hence":[111],"unchanged":[114],"environment.":[115],"Our":[116],"main":[117],"idea":[118],"account":[121],"for":[122,187,206],"nature":[125],"leveraging":[130],"full":[132,200],"posteriors":[134,145,161],"instead":[135],"only":[137],"most":[139],"likely":[140],"maps.":[141,216],"Closed-form":[142],"solutions":[143],"over":[146],"maps":[149,210],"introduced":[152,214],"recently.":[153],"We":[154,217],"leverage":[155],"similarity":[157,222],"measure":[158],"on":[159],"these":[160],"score":[163],"each":[164],"point":[165],"time":[167],"according":[168],"probability":[171],"constitutes":[174],"change":[176],"hidden":[179],"value.":[181],"While":[182],"proposed":[184],"approach":[185],"works":[186],"any":[188],"type":[189],"allows":[195],"computation":[197],"posterior,":[201],"we":[202],"provide":[203],"all":[204],"formulas":[205],"well-known":[208],"reflection":[209],"recently":[213],"decay-rate":[215],"introduce":[218],"compare":[220],"different":[221],"measures":[223],"show":[225],"our":[227],"method":[228],"significantly":[229],"outperforms":[230],"baseline":[231],"approaches":[232],"simulated":[234],"experiments.":[237]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
