{"id":"https://openalex.org/W3010840348","doi":"https://doi.org/10.1109/lra.2020.3013861","title":"UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown","display_name":"UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown","publication_year":2020,"publication_date":"2020-08-04","ids":{"openalex":"https://openalex.org/W3010840348","doi":"https://doi.org/10.1109/lra.2020.3013861","mag":"3010840348"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3013861","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.3013861","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2020.3013861","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091843764","display_name":"Daniel Duberg","orcid":"https://orcid.org/0000-0003-4815-9689"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Daniel Duberg","raw_affiliation_strings":["Division of Robotics, Perception and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden","[Division of Robotics, Perception and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden]"],"raw_orcid":"https://orcid.org/0000-0003-4815-9689","affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"[Division of Robotics, Perception and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden]","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["Division of Robotics, Perception and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden","Royal Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-1170-7162","affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":3.4098,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.9521937,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"5","issue":"4","first_page":"6411","last_page":"6418"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9969000220298767,"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/octree","display_name":"Octree","score":0.9025898575782776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7192397713661194},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.7142859697341919},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.7024527192115784},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6793665289878845},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.591349720954895},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5386348366737366},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4910144805908203},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42648860812187195},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4101463556289673},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3940114974975586},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37389546632766724},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3466121554374695},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2574109137058258},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1563529074192047},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09299466013908386}],"concepts":[{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.9025898575782776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7192397713661194},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7142859697341919},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.7024527192115784},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6793665289878845},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.591349720954895},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5386348366737366},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4910144805908203},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42648860812187195},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4101463556289673},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3940114974975586},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37389546632766724},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3466121554374695},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2574109137058258},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1563529074192047},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09299466013908386},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2020.3013861","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.3013861","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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:2003.04749","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.04749","pdf_url":"https://arxiv.org/pdf/2003.04749","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":"mag:3010840348","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2003.04749","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2003.04749","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.04749","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.1109/lra.2020.3013861","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.3013861","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1532701078","https://openalex.org/W1939066154","https://openalex.org/W2000259215","https://openalex.org/W2021851106","https://openalex.org/W2069647917","https://openalex.org/W2071906076","https://openalex.org/W2074954154","https://openalex.org/W2096268286","https://openalex.org/W2131991591","https://openalex.org/W2133844819","https://openalex.org/W2143220699","https://openalex.org/W2409009991","https://openalex.org/W2414314951","https://openalex.org/W2585698528","https://openalex.org/W2607968634","https://openalex.org/W2901136733","https://openalex.org/W2912372166","https://openalex.org/W2955486192","https://openalex.org/W2973864946","https://openalex.org/W3102129812","https://openalex.org/W6631963404","https://openalex.org/W6715860361","https://openalex.org/W6732652919","https://openalex.org/W6756486208","https://openalex.org/W6903478584"],"related_works":["https://openalex.org/W2963960966","https://openalex.org/W2792907124","https://openalex.org/W2244788189","https://openalex.org/W2135939055","https://openalex.org/W3015815083","https://openalex.org/W2777009701","https://openalex.org/W3008623250","https://openalex.org/W2185542187","https://openalex.org/W45766481","https://openalex.org/W2340764580","https://openalex.org/W2006256946","https://openalex.org/W1576369445","https://openalex.org/W2111035195","https://openalex.org/W3205797072","https://openalex.org/W1492287580","https://openalex.org/W2534870421","https://openalex.org/W1600780797","https://openalex.org/W1552775571","https://openalex.org/W2143821808","https://openalex.org/W2096193885"],"abstract_inverted_index":{"3D":[0,33],"models":[1],"are":[2],"an":[3,56,66],"essential":[4],"part":[5,22],"of":[6,23,69],"many":[7],"robotic":[8],"applications.":[9],"In":[10,51],"applications":[11],"where":[12,19],"the":[13,24,32,37,74,99,120],"environment":[14,25],"is":[15,26,29,139,151],"unknown":[16,38],"a-priori,":[17],"or":[18],"only":[20],"a":[21,84,142],"known,":[27],"it":[28],"important":[30],"that":[31,92,145],"model":[34],"can":[35,146],"handle":[36],"space":[39],"efficiently.":[40],"Path":[41],"planning,":[42],"exploration,":[43],"and":[44,79,114,123],"reconstruction":[45],"all":[46,70],"fall":[47],"into":[48,98,154],"this":[49,52],"category.":[50],"letter":[53],"we":[54,61],"present":[55],"extension":[57],"to":[58],"OctoMap":[59],"which":[60],"call":[62],"UFOMap.":[63],"UFOMap":[64,102,138],"uses":[65],"explicit":[67],"representation":[68],"three":[71],"states":[72],"in":[73],"map,":[75],"i.e.,":[76],"unknown,":[77],"free,":[78],"occupied.":[80],"This":[81,126],"gives,":[82],"surprisingly,":[83],"more":[85],"memory":[86],"efficient":[87],"representation.":[88],"We":[89],"provide":[90],"methods":[91],"allow":[93],"for":[94],"significantly":[95],"faster":[96],"insertions":[97],"octree.":[100],"Furthermore,":[101],"supports":[103],"fast":[104],"queries":[105],"based":[106,115],"on":[107,116],"occupancy":[108],"state":[109],"using":[110],"so":[111],"called":[112],"indicators":[113],"location":[117],"by":[118],"exploiting":[119],"octree":[121,130],"structure":[122],"bounding":[124],"volumes.":[125],"enables":[127],"real-time":[128],"colored":[129],"mapping":[131],"at":[132],"high":[133],"resolution":[134],"(below":[135],"1":[136],"cm).":[137],"contributed":[140],"as":[141],"C++":[143],"library":[144],"be":[147],"used":[148],"standalone":[149],"but":[150],"also":[152],"integrated":[153],"ROS.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2022-07-26T00:00:00"}