{"id":"https://openalex.org/W2906263139","doi":"https://doi.org/10.1109/lra.2018.2889348","title":"Variable Resolution Occupancy Mapping Using Gaussian Mixture Models","display_name":"Variable Resolution Occupancy Mapping Using Gaussian Mixture Models","publication_year":2018,"publication_date":"2018-12-24","ids":{"openalex":"https://openalex.org/W2906263139","doi":"https://doi.org/10.1109/lra.2018.2889348","mag":"2906263139"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2889348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2889348","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/A5039186446","display_name":"Cormac O\u2019Meadhra","orcid":"https://orcid.org/0000-0001-8590-978X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Cormac O'Meadhra","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8590-978X","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043462007","display_name":"Wennie Tabib","orcid":"https://orcid.org/0000-0002-4675-2924"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wennie Tabib","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4675-2924","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017643429","display_name":"Nathan Michael","orcid":"https://orcid.org/0000-0002-3585-9195"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Michael","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3585-9195","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039186446"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":48.436,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.99619712,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"4","issue":"2","first_page":"2015","last_page":"2022"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9835000038146973,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9803000092506409,"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/occupancy","display_name":"Occupancy","score":0.8787904977798462},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.8013049364089966},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6245894432067871},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5792328119277954},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5398141741752625},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5293579697608948},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.43026915192604065},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34620967507362366},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33458182215690613},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22309398651123047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1533690094947815},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10129818320274353}],"concepts":[{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.8787904977798462},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.8013049364089966},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6245894432067871},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5792328119277954},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5398141741752625},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5293579697608948},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.43026915192604065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34620967507362366},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33458182215690613},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22309398651123047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1533690094947815},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10129818320274353},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2889348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2889348","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":[],"awards":[{"id":"https://openalex.org/G3315069322","display_name":null,"funder_award_id":"NNX16AD98G","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G8767940697","display_name":null,"funder_award_id":"HDTRA1-13-0026","funder_id":"https://openalex.org/F4320332186","funder_display_name":"Defense Threat Reduction Agency"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332186","display_name":"Defense Threat Reduction Agency","ror":"https://ror.org/04tz64554"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1532701078","https://openalex.org/W1606015693","https://openalex.org/W1650975994","https://openalex.org/W1663973292","https://openalex.org/W1977189000","https://openalex.org/W1978808842","https://openalex.org/W2053158115","https://openalex.org/W2053455835","https://openalex.org/W2068303195","https://openalex.org/W2130684472","https://openalex.org/W2133844819","https://openalex.org/W2150981915","https://openalex.org/W2291737362","https://openalex.org/W2346044757","https://openalex.org/W2413963660","https://openalex.org/W2429678572","https://openalex.org/W2462462929","https://openalex.org/W2563166551","https://openalex.org/W2569527682","https://openalex.org/W2571066139","https://openalex.org/W2733020375","https://openalex.org/W2738569225","https://openalex.org/W2761299220","https://openalex.org/W2884745741","https://openalex.org/W2901435296","https://openalex.org/W3098085399","https://openalex.org/W3105051566","https://openalex.org/W4212863985","https://openalex.org/W6631963404","https://openalex.org/W6636989855","https://openalex.org/W6755857615"],"related_works":["https://openalex.org/W2001674673","https://openalex.org/W2148412784","https://openalex.org/W2245943671","https://openalex.org/W2055547288","https://openalex.org/W2145878198","https://openalex.org/W4312046402","https://openalex.org/W2043881629","https://openalex.org/W2126824614","https://openalex.org/W2021245852","https://openalex.org/W2656418897"],"abstract_inverted_index":{"Occupancy":[0],"mapping":[1,23,104,123],"is":[2,114,138,146],"fundamental":[3],"for":[4,61,142],"active":[5],"perception":[6],"systems":[7],"to":[8,69,80,118,148,158],"enable":[9,102],"reasoning":[10],"about":[11],"known":[12],"and":[13,66,75,101,105,121,129,173],"unknown":[14],"regions":[15],"of":[16,21,45,64,73,96,111,135,184],"the":[17,33,43,46,62,71,94,112,156,160,185],"environment.":[18],"The":[19,48,109,132,163],"majority":[20],"occupancy":[22,77,97,107,144,181],"approaches":[24],"enforce":[25],"an":[26,180],"<italic":[27,53],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[28,54],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">a":[29,55],"priori</i>":[30,56],"discretization":[31],"on":[32],"environment,":[34],"resulting":[35],"in":[36,98,125,153,175],"a":[37,139],"fixed":[38],"resolution":[39],"map":[40,183],"that":[41,91,145],"limits":[42],"expressiveness":[44],"representation.":[47],"proposed":[49],"approach":[50,113],"removes":[51],"this":[52,136],"discretization,":[57],"learns":[58],"continuous":[59,122],"representations":[60],"evidence":[63],"occupied":[65],"free":[67],"space":[68],"derive":[70],"probability":[72,95],"occupancy,":[74],"enables":[76],"grid":[78,182],"maps":[79],"be":[81,189],"generated":[82],"at":[83],"arbitrary":[84],"resolution.":[85],"Efficient":[86],"methods":[87],"are":[88,167],"also":[89],"presented":[90],"accurately":[92],"evaluate":[93],"individual":[99],"cells":[100],"multi-resolution":[103],"local":[106],"evaluation.":[108],"efficacy":[110],"demonstrated":[115],"by":[116],"comparison":[117],"state-of-the-art":[119],"discrete":[120],"techniques":[124],"both":[126],"two":[127],"dimensions":[128],"three":[130],"dimensions.":[131],"core":[133],"contribution":[134],"work":[137],"memory-efficient":[140],"method":[141],"deriving":[143],"amenable":[147],"small":[149],"or":[150],"large":[151],"corrections":[152],"pose":[154],"without":[155],"need":[157],"regenerate":[159],"entire":[161,186],"map.":[162],"applications":[164],"under":[165],"considerations":[166],"low-bandwidth":[168],"scenarios":[169],"(e.g.,":[170],"multi-robot":[171],"exploration)":[172],"operations":[174],"expansive":[176],"environments,":[177],"where":[178],"storing":[179],"environment":[187],"would":[188],"prohibitive.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":3}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}
