{"id":"https://openalex.org/W1980692321","doi":"https://doi.org/10.1109/robio.2012.6491014","title":"Improving 3D indoor mapping with motion data","display_name":"Improving 3D indoor mapping with motion data","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W1980692321","doi":"https://doi.org/10.1109/robio.2012.6491014","mag":"1980692321"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100519357","display_name":"Jianhao Du","orcid":null},"institutions":[{"id":"https://openalex.org/I115475287","display_name":"Oklahoma State University","ror":"https://ror.org/01g9vbr38","country_code":"US","type":"education","lineage":["https://openalex.org/I115475287"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianhao Du","raw_affiliation_strings":["School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, USA","School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, 74078, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, USA","institution_ids":["https://openalex.org/I115475287"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, 74078, USA","institution_ids":["https://openalex.org/I115475287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066181483","display_name":"Yongsheng Ou","orcid":"https://orcid.org/0000-0003-2998-267X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongsheng Ou","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China","Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong 518055, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong 518055, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090289368","display_name":"Weihua Sheng","orcid":"https://orcid.org/0000-0003-2214-0373"},"institutions":[{"id":"https://openalex.org/I115475287","display_name":"Oklahoma State University","ror":"https://ror.org/01g9vbr38","country_code":"US","type":"education","lineage":["https://openalex.org/I115475287"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weihua Sheng","raw_affiliation_strings":["School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, USA","School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, 74078, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, USA","institution_ids":["https://openalex.org/I115475287"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, 74078, USA","institution_ids":["https://openalex.org/I115475287"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"489","last_page":"494"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9988999962806702,"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/computer-vision","display_name":"Computer vision","score":0.8031318783760071},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7853246927261353},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.774101972579956},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7674959301948547},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7631257176399231},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.6029012203216553},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5478529334068298},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4721054136753082},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.44595012068748474},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4117025136947632}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8031318783760071},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7853246927261353},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.774101972579956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7674959301948547},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7631257176399231},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.6029012203216553},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5478529334068298},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4721054136753082},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.44595012068748474},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4117025136947632},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6491014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337388","display_name":"Division of Computer and Network Systems","ror":"https://ror.org/02rdzmk74"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1187244281","https://openalex.org/W2002869830","https://openalex.org/W2016620160","https://openalex.org/W2049981393","https://openalex.org/W2080733883","https://openalex.org/W2099940712","https://openalex.org/W2121272499","https://openalex.org/W2144332956","https://openalex.org/W2167667767","https://openalex.org/W4247021973","https://openalex.org/W6627862999"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W4391129294","https://openalex.org/W2807666361","https://openalex.org/W2196111060","https://openalex.org/W4213431252","https://openalex.org/W4306760020","https://openalex.org/W2120071540","https://openalex.org/W2528465333","https://openalex.org/W4200038092"],"abstract_inverted_index":{"Using":[0],"both":[1],"RGB":[2],"and":[3],"depth":[4],"information":[5,46],"obtained":[6],"from":[7],"low-cost":[8],"RGB-D":[9,43,71],"cameras,":[10,44],"3D":[11,58,107],"models":[12],"of":[13,42,69,125],"indoor":[14],"environment":[15],"can":[16,109],"be":[17,110],"reconstructed,":[18],"which":[19],"provide":[20],"extensive":[21],"knowledge":[22],"for":[23],"mobile":[24],"robots":[25],"to":[26,38,63,98,121],"accomplish":[27],"tasks":[28],"such":[29],"as":[30],"localization,":[31],"mapping,":[32],"interaction":[33],"with":[34,118],"human,":[35],"etc.":[36],"Due":[37],"the":[39,48,65,70,86,100,106,123],"limited":[40],"views":[41],"additional":[45],"about":[47],"camera":[49,72],"pose":[50],"is":[51,61,73,96],"needed.":[52],"In":[53],"this":[54],"paper,":[55],"an":[56],"enhanced":[57],"mapping":[59],"algorithm":[60,95],"proposed":[62],"overcome":[64],"limitations.":[66],"The":[67,102],"motion":[68,77],"estimated":[74,87],"by":[75],"a":[76,81,89],"capture":[78],"system":[79],"after":[80],"calibration":[82],"process.":[83],"Based":[84],"on":[85],"pose,":[88],"multi-level":[90],"ICP":[91],"(Iterative":[92],"Closest":[93],"Point)":[94],"used":[97],"improve":[99],"alignment.":[101],"result":[103],"shows":[104],"that":[105],"map":[108],"generated":[111],"in":[112],"real-time.":[113],"We":[114],"compare":[115],"our":[116,126],"results":[117],"other":[119],"approaches":[120],"show":[122],"robustness":[124],"algorithm.":[127]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}