{"id":"https://openalex.org/W4394862961","doi":"https://doi.org/10.1109/lra.2024.3389820","title":"RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation","display_name":"RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation","publication_year":2024,"publication_date":"2024-04-16","ids":{"openalex":"https://openalex.org/W4394862961","doi":"https://doi.org/10.1109/lra.2024.3389820"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3389820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3389820","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/A5088273964","display_name":"Pavel Petr\u00e1\u010dek","orcid":"https://orcid.org/0000-0002-0887-9430"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Pavel Petracek","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-0887-9430","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022659812","display_name":"Kostas Alexis","orcid":"https://orcid.org/0000-0002-9989-298X"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Kostas Alexis","raw_affiliation_strings":["Autonomous Robots Lab, Norwegian University of Science and Technology, Trondheim, Norway","AuthorAutonomous Robots Lab, Norwegian University of Science and Technology O. S. Bragstads Plass 2D, Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0002-9989-298X","affiliations":[{"raw_affiliation_string":"Autonomous Robots Lab, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"AuthorAutonomous Robots Lab, Norwegian University of Science and Technology O. S. Bragstads Plass 2D, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004992661","display_name":"Martin Saska","orcid":"https://orcid.org/0000-0001-7106-3816"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Martin Saska","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0001-7106-3816","affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5088273964"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":6.3662,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.95931986,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"6","first_page":"5230","last_page":"5237"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9975000023841858,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.6109826564788818},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5799643397331238},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5514956712722778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48814114928245544},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.47354453802108765},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.38825851678848267},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30996206402778625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2819686830043793},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1892285943031311},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12286904454231262}],"concepts":[{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.6109826564788818},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5799643397331238},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5514956712722778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48814114928245544},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.47354453802108765},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.38825851678848267},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30996206402778625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2819686830043793},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1892285943031311},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12286904454231262},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3389820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3389820","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":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.4000000059604645}],"awards":[{"id":"https://openalex.org/G112504165","display_name":null,"funder_award_id":"CZ.02.01.01/00/22_008/0004590","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3537690364","display_name":null,"funder_award_id":"23-06162M","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G5421201192","display_name":null,"funder_award_id":"NO-321435","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"},{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W162473485","https://openalex.org/W1953793983","https://openalex.org/W2103544971","https://openalex.org/W2119851068","https://openalex.org/W2150066425","https://openalex.org/W2152864241","https://openalex.org/W2296228853","https://openalex.org/W2419212966","https://openalex.org/W2608018532","https://openalex.org/W2796426482","https://openalex.org/W2963053547","https://openalex.org/W2979750740","https://openalex.org/W3034317268","https://openalex.org/W3034664537","https://openalex.org/W3089501578","https://openalex.org/W3205084628","https://openalex.org/W3207701335","https://openalex.org/W4281479885","https://openalex.org/W4285033252","https://openalex.org/W4311463255","https://openalex.org/W4312776746","https://openalex.org/W4315778466","https://openalex.org/W4317598226","https://openalex.org/W4322707027","https://openalex.org/W4379793331","https://openalex.org/W4388983935","https://openalex.org/W6631686956","https://openalex.org/W6739778489"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W1578717197","https://openalex.org/W2626737336","https://openalex.org/W2005998065","https://openalex.org/W2980582925","https://openalex.org/W3107697994"],"abstract_inverted_index":{"The":[0,169],"typical":[1],"point":[2,18,62,74,133],"cloud":[3,63],"sampling":[4,64],"methods":[5,176],"used":[6],"in":[7,177,182,187],"state":[8,80],"estimation":[9,26,105],"for":[10,41,49,135],"mobile":[11],"robots":[12,43],"preserve":[13],"a":[14,39,56,72,119],"high":[15,100],"level":[16],"of":[17,81,111,128],"redundancy.":[19],"This":[20],"redundancy":[21,70,101,134],"unnecessarily":[22],"slows":[23],"down":[24],"the":[25,79,82,86,91,109,115,126,129,143],"pipeline":[27],"and":[28,51,60,95,149,157,163,180],"may":[29],"cause":[30],"drift":[31],"under":[32],"real-time":[33],"constraints.":[34],"Such":[35],"undue":[36],"latency":[37],"becomes":[38],"bottleneck":[40],"resource-constrained":[42],"(especially":[44],"UAVs),":[45],"requiring":[46],"minimal":[47],"delay":[48],"agile":[50],"accurate":[52],"operation.":[53],"We":[54,107,121,139],"propose":[55],"novel,":[57],"deterministic,":[58],"uninformed,":[59],"single-parameter":[61],"method":[65],"named":[66],"RMS":[67,84,141,173],"that":[68,93,124,172],"minimizes":[69,132],"within":[71],"3D":[73],"cloud.":[75],"In":[76],"contrast":[77],"to":[78],"art,":[83],"balances":[85],"translation-space":[87],"observability":[88],"by":[89],"leveraging":[90],"fact":[92],"linear":[94],"planar":[96],"surfaces":[97],"inherently":[98],"exhibit":[99],"propagated":[102],"into":[103,142],"iterative":[104],"pipelines.":[106],"define":[108],"concept":[110],"gradient":[112,130],"flow,":[113],"quantifying":[114],"local":[116],"surface":[117],"underlying":[118],"point.":[120],"also":[122],"show":[123],"maximizing":[125],"entropy":[127],"flow":[131],"robot":[136],"ego-motion":[137],"estimation.":[138],"integrate":[140],"<italic":[144,150],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[145,151],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">point</i>":[146],"-based":[147,153],"KISS-ICP":[148],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">feature</i>":[152],"LOAM":[154],"odometry":[155],"pipelines":[156],"evaluate":[158],"experimentally":[159],"on":[160],"KITTI,":[161],"Hilti-Oxford,":[162],"custom":[164],"datasets":[165],"from":[166],"multirotor":[167],"UAVs.":[168],"experiments":[170],"demonstrate":[171],"outperforms":[174],"state-of-the-art":[175],"speed,":[178],"compression,":[179],"accuracy":[181],"well-conditioned":[183],"as":[184,186],"well":[185],"geometrically-degenerated":[188],"settings.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}