{"id":"https://openalex.org/W3199605999","doi":"https://doi.org/10.1109/lra.2022.3146586","title":"A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration","display_name":"A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration","publication_year":2022,"publication_date":"2022-01-27","ids":{"openalex":"https://openalex.org/W3199605999","doi":"https://doi.org/10.1109/lra.2022.3146586","mag":"3199605999"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3146586","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146586","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2109.09323","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110794841","display_name":"Ana Batinovi\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Ana Batinovic","raw_affiliation_strings":["University of Zagreb, Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0000-0003-0289-0791","affiliations":[{"raw_affiliation_string":"University of Zagreb, Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053384715","display_name":"Antun Ivanovi\u0107","orcid":"https://orcid.org/0000-0001-7353-2671"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Antun Ivanovic","raw_affiliation_strings":["University of Zagreb, Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0000-0001-7353-2671","affiliations":[{"raw_affiliation_string":"University of Zagreb, Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072518688","display_name":"Tamara Petrovi\u0107","orcid":"https://orcid.org/0000-0003-4279-303X"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Tamara Petrovic","raw_affiliation_strings":["University of Zagreb, Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0000-0003-4279-303X","affiliations":[{"raw_affiliation_string":"University of Zagreb, Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071197011","display_name":"Stjepan Bogdan","orcid":"https://orcid.org/0000-0003-2636-3216"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Stjepan Bogdan","raw_affiliation_strings":["University of Zagreb, Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0000-0003-2636-3216","affiliations":[{"raw_affiliation_string":"University of Zagreb, Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1015,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.3407695,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"7","issue":"2","first_page":"2969","last_page":"2976"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9912999868392944,"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":0.7767553925514221},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7465870976448059},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6700917482376099},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.6510093212127686},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6051632165908813},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5268189907073975},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.521270751953125},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.44085240364074707},{"id":"https://openalex.org/keywords/cuboid","display_name":"Cuboid","score":0.4266444444656372},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4183160662651062},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40663832426071167},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3407938480377197},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22420307993888855},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08863535523414612}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7767553925514221},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7465870976448059},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6700917482376099},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.6510093212127686},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6051632165908813},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5268189907073975},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.521270751953125},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.44085240364074707},{"id":"https://openalex.org/C203527163","wikidata":"https://www.wikidata.org/wiki/Q262959","display_name":"Cuboid","level":2,"score":0.4266444444656372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4183160662651062},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40663832426071167},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3407938480377197},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22420307993888855},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08863535523414612},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2022.3146586","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146586","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:2109.09323","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.09323","pdf_url":"https://arxiv.org/pdf/2109.09323","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3199605999","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2109.09323v1","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.2109.09323","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2109.09323","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":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2109.09323","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.09323","pdf_url":"https://arxiv.org/pdf/2109.09323","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.550000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322674","display_name":"Hrvatska Zaklada za Znanost","ror":"https://ror.org/03n51vw80"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338080","display_name":"European Social Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3199605999.pdf","grobid_xml":"https://content.openalex.org/works/W3199605999.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1805367571","https://openalex.org/W2076518796","https://openalex.org/W2089437550","https://openalex.org/W2107667896","https://openalex.org/W2133844819","https://openalex.org/W2141664020","https://openalex.org/W2146945987","https://openalex.org/W2244356571","https://openalex.org/W2409009991","https://openalex.org/W2573758756","https://openalex.org/W2607968634","https://openalex.org/W2736958649","https://openalex.org/W2739036405","https://openalex.org/W2769990600","https://openalex.org/W2792588379","https://openalex.org/W2889942734","https://openalex.org/W2895804500","https://openalex.org/W2907813167","https://openalex.org/W2912372166","https://openalex.org/W2963080995","https://openalex.org/W2963338060","https://openalex.org/W2964057747","https://openalex.org/W2973864946","https://openalex.org/W3006305332","https://openalex.org/W3090437565","https://openalex.org/W3095739904","https://openalex.org/W3096241302","https://openalex.org/W3102129812","https://openalex.org/W3125164440","https://openalex.org/W3129198075","https://openalex.org/W3139455593","https://openalex.org/W3206681541","https://openalex.org/W6605295560","https://openalex.org/W6768980174","https://openalex.org/W6785372557"],"related_works":["https://openalex.org/W2763168458","https://openalex.org/W2739310425","https://openalex.org/W2196669139","https://openalex.org/W3098068565","https://openalex.org/W3213084607","https://openalex.org/W2789372505","https://openalex.org/W3000893460","https://openalex.org/W3176634028","https://openalex.org/W2512181867","https://openalex.org/W2951424973","https://openalex.org/W2809211816","https://openalex.org/W2319279134","https://openalex.org/W3096342673","https://openalex.org/W1519517979","https://openalex.org/W3128469174","https://openalex.org/W2762384326","https://openalex.org/W2961188780","https://openalex.org/W2922204282","https://openalex.org/W2773391512","https://openalex.org/W2030731164"],"abstract_inverted_index":{"In":[0],"this":[1,58],"letter,":[2],"we":[3,60,113],"address":[4],"the":[5,69,83,89,109,144],"problem":[6],"of":[7,10,149,158],"autonomous":[8],"exploration":[9,111,154],"unknown":[11],"environments":[12],"with":[13,18],"an":[14,37,54,102],"aerial":[15],"robot":[16],"equipped":[17],"a":[19,62,75,95,116,131],"sensory":[20],"set":[21],"that":[22,64,99,121,140],"produces":[23],"large":[24],"point":[25],"clouds,":[26],"such":[27],"as":[28],"LiDARs.":[29],"The":[30,156],"main":[31],"goal":[32],"is":[33],"to":[34,124],"gradually":[35],"explore":[36],"area":[38],"while":[39],"planning":[40],"paths":[41],"and":[42,77,152],"calculating":[43],"information":[44],"gain":[45,79],"in":[46,68,101,130,136,147],"short":[47,104],"computation":[48,105],"time,":[49,112],"suitable":[50],"for":[51],"implementation":[52],"on":[53,74,82],"on-board":[55],"computer.":[56],"To":[57,87,107],"end,":[59],"present":[61],"planner":[63,93],"randomly":[65],"samples":[66],"viewpoints":[67],"environment":[70],"map.":[71],"It":[72],"relies":[73],"novel":[76],"efficient":[78],"calculation":[80],"based":[81],"Recursive":[84],"Shadowcasting":[85],"algorithm.":[86],"determine":[88],"Next-Best-View":[90],"(NBV),":[91],"our":[92,141,159],"uses":[94],"cuboid-based":[96],"evaluation":[97],"method":[98],"results":[100],"enviably":[103],"time.":[106,155],"reduce":[108],"overall":[110],"also":[114],"use":[115],"dead":[117,128],"end":[118],"resolving":[119],"strategy":[120],"allows":[122],"us":[123],"quickly":[125],"recover":[126],"from":[127],"ends":[129],"challenging":[132],"environment.":[133],"Comparative":[134],"experiments":[135],"simulation":[137],"have":[138],"shown":[139],"approach":[142,160],"outperforms":[143],"current":[145],"state-of-the-art":[146],"terms":[148],"computational":[150],"efficiency":[151],"total":[153],"video":[157],"can":[161],"be":[162],"found":[163],"at":[164],"<uri":[165],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[166],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://www.youtube.com/playlist?list":[167],"=PLC0C6uwoEQ8ZDhny1VdmFXLeTQOSBibQl</uri>":[168],".":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}