{"id":"https://openalex.org/W4403279033","doi":"https://doi.org/10.1109/mfi62651.2024.10705762","title":"Object-Oriented Grid Mapping in Dynamic Environments","display_name":"Object-Oriented Grid Mapping in Dynamic Environments","publication_year":2024,"publication_date":"2024-09-04","ids":{"openalex":"https://openalex.org/W4403279033","doi":"https://doi.org/10.1109/mfi62651.2024.10705762"},"language":"en","primary_location":{"id":"doi:10.1109/mfi62651.2024.10705762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi62651.2024.10705762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5077609510","display_name":"Matti Pekkanen","orcid":"https://orcid.org/0000-0003-3391-3730"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Matti Pekkanen","raw_affiliation_strings":["School of Electrical Engineering, Aalto University,Espoo,Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University,Espoo,Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076436681","display_name":"Francesco Verdoja","orcid":"https://orcid.org/0000-0002-9551-6186"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Francesco Verdoja","raw_affiliation_strings":["School of Electrical Engineering, Aalto University,Espoo,Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University,Espoo,Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080940147","display_name":"Ville Kyrki","orcid":"https://orcid.org/0000-0002-5230-5549"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Ville Kyrki","raw_affiliation_strings":["School of Electrical Engineering, Aalto University,Espoo,Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University,Espoo,Finland","institution_ids":["https://openalex.org/I9927081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9927081"],"apc_list":null,"apc_paid":null,"fwci":0.5585,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.60083377,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.7699627876281738},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6002787351608276},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5219732522964478},{"id":"https://openalex.org/keywords/object-oriented-programming","display_name":"Object-oriented programming","score":0.42533621191978455},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4018707275390625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2886722981929779},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.15385684370994568},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07146817445755005}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7699627876281738},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6002787351608276},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5219732522964478},{"id":"https://openalex.org/C73752529","wikidata":"https://www.wikidata.org/wiki/Q79872","display_name":"Object-oriented programming","level":2,"score":0.42533621191978455},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4018707275390625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2886722981929779},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.15385684370994568},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07146817445755005},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mfi62651.2024.10705762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi62651.2024.10705762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1033316025","https://openalex.org/W1757088154","https://openalex.org/W1979223226","https://openalex.org/W1983043788","https://openalex.org/W2021851106","https://openalex.org/W2027438599","https://openalex.org/W2032288976","https://openalex.org/W2041620409","https://openalex.org/W2047328415","https://openalex.org/W2054493133","https://openalex.org/W2057520584","https://openalex.org/W2096579040","https://openalex.org/W2097696373","https://openalex.org/W2097861733","https://openalex.org/W2115579991","https://openalex.org/W2150981915","https://openalex.org/W2155214120","https://openalex.org/W2196524641","https://openalex.org/W2558027072","https://openalex.org/W2911169162","https://openalex.org/W2962893086","https://openalex.org/W2963440325","https://openalex.org/W2991216808","https://openalex.org/W3003991701","https://openalex.org/W3012494314","https://openalex.org/W3090139470","https://openalex.org/W3111309163","https://openalex.org/W3130635958","https://openalex.org/W3164088557","https://openalex.org/W3201048198","https://openalex.org/W3206772186","https://openalex.org/W4281641918","https://openalex.org/W4283773122","https://openalex.org/W4285110186","https://openalex.org/W4285199148","https://openalex.org/W4285819322","https://openalex.org/W4311167006","https://openalex.org/W4365147444","https://openalex.org/W4376851373","https://openalex.org/W4385834120","https://openalex.org/W4387757567","https://openalex.org/W6726390445"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"Grid":[0],"maps,":[1,5,111],"especially":[2],"occupancy":[3,68,127],"grid":[4,21,28,110],"are":[6,33],"ubiquitous":[7],"in":[8,38,202,226],"many":[9],"mobile":[10],"robot":[11],"applications.":[12],"To":[13],"simplify":[14],"the":[15,19,24,39,43,47,67,74,93,96,107,113,120,123,126,143,146,154,167,176,196,213,216,224],"process":[16],"of":[17,29,42,50,66,69,95,109,115,128,134,145,215],"learning":[18],"map,":[20],"maps":[22,201],"subdivide":[23],"world":[25,48],"into":[26],"a":[27,62,103,132,150,227],"cells":[30,71],"whose":[31],"occupancies":[32],"independently":[34],"estimated":[35],"using":[36],"measurements":[37,59,124],"perceptual":[40],"field":[41],"particular":[44],"cell.":[45],"However,":[46],"consists":[49],"objects":[51,222],"that":[52,58,195],"span":[53],"multiple":[54],"cells,":[55],"which":[56],"means":[57],"falling":[60],"onto":[61],"cell":[63,130],"provide":[64],"evidence":[65],"other":[70],"belonging":[72],"to":[73,105,152,166,174,207,219],"same":[75],"object.":[76],"Current":[77],"models":[78],"do":[79,86],"not":[80,87],"capture":[81],"this":[82,99],"correlation":[83],"and,":[84],"therefore,":[85],"use":[88],"object-level":[89],"information":[90],"for":[91],"estimating":[92],"state":[94],"environment.":[97],"In":[98],"work,":[100],"we":[101,211],"present":[102],"way":[104],"generalize":[106],"update":[108,179,230],"relaxing":[112],"assumption":[114],"independence.":[116],"We":[117,148,181],"propose":[118,149],"modeling":[119],"relationship":[121],"between":[122],"and":[125,137,142,163,186,193],"each":[129],"as":[131],"set":[133],"latent":[135,155],"variables":[136,141,156],"jointly":[138],"estimate":[139,153],"those":[140],"posterior":[144],"map.":[147],"method":[151,198,218],"by":[157],"clustering":[158],"based":[159],"on":[160],"semantic":[161],"labels":[162],"an":[164],"extension":[165],"Normal":[168],"Distributions":[169],"Transform":[170],"Occupancy":[171],"Map":[172],"(NDT-OM)":[173],"facilitate":[175],"proposed":[177,197,217],"map":[178,184,225,229],"method.":[180],"perform":[182],"comprehensive":[183],"creation":[185],"localization":[187],"experiments":[188],"with":[189],"real-world":[190],"data":[191],"sets":[192],"show":[194],"creates":[199],"better":[200],"highly":[203],"dynamic":[204],"environments":[205],"compared":[206],"state-of-the-art":[208],"methods.":[209],"Finally,":[210],"demonstrate":[212],"ability":[214],"remove":[220],"occluded":[221],"from":[223],"lifelong":[228],"scenario.":[231]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
