{"id":"https://openalex.org/W2134256138","doi":"https://doi.org/10.1109/nds.2015.7332642","title":"Map building using occupancy grids with differentiated occupancy states","display_name":"Map building using occupancy grids with differentiated occupancy states","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2134256138","doi":"https://doi.org/10.1109/nds.2015.7332642","mag":"2134256138"},"language":"en","primary_location":{"id":"doi:10.1109/nds.2015.7332642","is_oa":false,"landing_page_url":"https://doi.org/10.1109/nds.2015.7332642","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 9th International Workshop on Multidimensional (nD) Systems (nDS)","raw_type":"proceedings-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/A5045674821","display_name":"Anna Heinemann","orcid":null},"institutions":[{"id":"https://openalex.org/I167360494","display_name":"University of Wuppertal","ror":"https://ror.org/00613ak93","country_code":"DE","type":"education","lineage":["https://openalex.org/I167360494"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Anna Heinemann","raw_affiliation_strings":["Bergische Universit\u00e4t Wuppertal, Wuppertal, Germany","Bergische Universit\u00e4t Wuppertal, Rainer-Gruenter-Str. 21, 42119 Wuppertal, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bergische Universit\u00e4t Wuppertal, Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]},{"raw_affiliation_string":"Bergische Universit\u00e4t Wuppertal, Rainer-Gruenter-Str. 21, 42119 Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033355410","display_name":"J\u00f6rg Velten","orcid":"https://orcid.org/0000-0002-4228-3198"},"institutions":[{"id":"https://openalex.org/I167360494","display_name":"University of Wuppertal","ror":"https://ror.org/00613ak93","country_code":"DE","type":"education","lineage":["https://openalex.org/I167360494"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jorg Velten","raw_affiliation_strings":["Bergische Universit\u00e4t Wuppertal, Wuppertal, Germany","Bergische Universit\u00e4t Wuppertal, Rainer-Gruenter-Str. 21, 42119 Wuppertal, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bergische Universit\u00e4t Wuppertal, Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]},{"raw_affiliation_string":"Bergische Universit\u00e4t Wuppertal, Rainer-Gruenter-Str. 21, 42119 Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080666933","display_name":"Anton Kummert","orcid":"https://orcid.org/0000-0002-0282-5087"},"institutions":[{"id":"https://openalex.org/I167360494","display_name":"University of Wuppertal","ror":"https://ror.org/00613ak93","country_code":"DE","type":"education","lineage":["https://openalex.org/I167360494"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Anton Kummert","raw_affiliation_strings":["Bergische Universit\u00e4t Wuppertal, Wuppertal, Germany","Bergische Universit\u00e4t Wuppertal, Rainer-Gruenter-Str. 21, 42119 Wuppertal, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bergische Universit\u00e4t Wuppertal, Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]},{"raw_affiliation_string":"Bergische Universit\u00e4t Wuppertal, Rainer-Gruenter-Str. 21, 42119 Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.20984694,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"27","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940000176429749,"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":0.9940000176429749,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9836999773979187,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.9615366458892822},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.9246123433113098},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7851091623306274},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6739962100982666},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6034631729125977},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5933647155761719},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5310186743736267},{"id":"https://openalex.org/keywords/archetype","display_name":"Archetype","score":0.5308348536491394},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49627214670181274},{"id":"https://openalex.org/keywords/grid-cell","display_name":"Grid cell","score":0.4592229723930359},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4481807351112366},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36182641983032227},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1882239580154419},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17531651258468628},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12021824717521667},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11527293920516968},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08581799268722534},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.08296564221382141},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07447183132171631}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.9615366458892822},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.9246123433113098},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7851091623306274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6739962100982666},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6034631729125977},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5933647155761719},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5310186743736267},{"id":"https://openalex.org/C49848784","wikidata":"https://www.wikidata.org/wiki/Q131714","display_name":"Archetype","level":2,"score":0.5308348536491394},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49627214670181274},{"id":"https://openalex.org/C2983008078","wikidata":"https://www.wikidata.org/wiki/Q863495","display_name":"Grid cell","level":3,"score":0.4592229723930359},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4481807351112366},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36182641983032227},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1882239580154419},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17531651258468628},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12021824717521667},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11527293920516968},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08581799268722534},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.08296564221382141},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07447183132171631},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/nds.2015.7332642","is_oa":false,"landing_page_url":"https://doi.org/10.1109/nds.2015.7332642","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 9th International Workshop on Multidimensional (nD) Systems (nDS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W59651660","https://openalex.org/W854248418","https://openalex.org/W1494609326","https://openalex.org/W1571912086","https://openalex.org/W1586447883","https://openalex.org/W1730152048","https://openalex.org/W1876676194","https://openalex.org/W1999050017","https://openalex.org/W2001674673","https://openalex.org/W2030021468","https://openalex.org/W2032935377","https://openalex.org/W2043811545","https://openalex.org/W2117790364","https://openalex.org/W2119404509","https://openalex.org/W2126824614","https://openalex.org/W2154418813","https://openalex.org/W2158057652","https://openalex.org/W2162255319","https://openalex.org/W2196524641","https://openalex.org/W2912565176","https://openalex.org/W4211007335","https://openalex.org/W4301088184","https://openalex.org/W6602402136","https://openalex.org/W6623701065","https://openalex.org/W6634211753"],"related_works":["https://openalex.org/W2946431786","https://openalex.org/W1999050017","https://openalex.org/W5037887","https://openalex.org/W4229444815","https://openalex.org/W3154504797","https://openalex.org/W4293877624","https://openalex.org/W3033776171","https://openalex.org/W3121103700","https://openalex.org/W2162255319","https://openalex.org/W2004240842"],"abstract_inverted_index":{"For":[0],"map":[1,20,33,60],"building":[2,34,61],"purposes":[3],"it":[4,46],"is":[5],"necessary":[6],"to":[7],"distinguish":[8],"between":[9],"moving":[10,13,16],"and":[11,125],"not":[12],"objects,":[14],"because":[15],"objects":[17],"might":[18,109],"falsify":[19],"matching":[21],"procedures.":[22,62],"This":[23,107],"paper":[24],"presents":[25],"a":[26,30,96,100,128],"new":[27],"approach":[28],"of":[29,40,84],"grid":[31],"based":[32],"algorithm":[35,50,122],"which":[36,72],"represents":[37],"an":[38],"extension":[39],"occupancy":[41,65],"grids.":[42],"As":[43],"well":[44],"as":[45,75],"its":[47],"archetype,":[48],"the":[49,81],"can":[51,91],"easily":[52],"be":[53,93],"used":[54],"for":[55],"2d":[56],"or":[57,104,117],"3d":[58],"time-dependent":[59],"The":[63,120],"original":[64],"grids":[66],"were":[67],"extended":[68],"so":[69],"that":[70],"cells":[71],"are":[73],"marked":[74],"occupied":[76,89,98],"get":[77],"further":[78],"differentiated":[79,94],"regarding":[80,114],"motion":[82],"characteristic":[83],"their":[85],"particular":[86],"obstacle.":[87,106],"An":[88],"cell":[90,97],"therefore":[92],"in":[95,112],"by":[99],"dynamic,":[101],"quasi":[102],"static":[103,105],"differentiation":[108],"also":[110],"come":[111],"handy":[113],"object":[115],"detection":[116],"similar":[118],"algorithms.":[119],"presented":[121],"was":[123],"developed":[124],"tested":[126],"using":[127],"SICK":[129],"LMS511":[130],"high":[131],"resolution":[132],"laser":[133],"measurement":[134],"system.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}