{"id":"https://openalex.org/W4317383385","doi":"https://doi.org/10.1109/robio55434.2022.10011710","title":"Adaptive Block Elevation Mapping for Large-scale Scene","display_name":"Adaptive Block Elevation Mapping for Large-scale Scene","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383385","doi":"https://doi.org/10.1109/robio55434.2022.10011710"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011710","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011710","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5101762512","display_name":"Yang Zhou","orcid":"https://orcid.org/0009-0001-7895-7780"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Zhou","raw_affiliation_strings":["Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory,Hangzhou,China,311100","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109646818","display_name":"Shiqiang Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqiang Zhu","raw_affiliation_strings":["Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory,Hangzhou,China,311100","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340338","display_name":"Huang Huang","orcid":"https://orcid.org/0000-0002-9690-2513"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang Huang","raw_affiliation_strings":["Beijing Institute of Control Engineering,Beijing,China,100094"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Control Engineering,Beijing,China,100094","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100721628","display_name":"Yuehua Li","orcid":"https://orcid.org/0000-0002-4140-666X"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuehua Li","raw_affiliation_strings":["Beijing Research Institute of Zhejiang Laboratory,Beijing,China,100094"],"affiliations":[{"raw_affiliation_string":"Beijing Research Institute of Zhejiang Laboratory,Beijing,China,100094","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010340252","display_name":"Jason Gu","orcid":"https://orcid.org/0000-0002-7626-1077"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jason Gu","raw_affiliation_strings":["Dalhousie University,Department of Electrical and Computer Engineering,Halifax,NS Canada,B3H 4R2"],"affiliations":[{"raw_affiliation_string":"Dalhousie University,Department of Electrical and Computer Engineering,Halifax,NS Canada,B3H 4R2","institution_ids":["https://openalex.org/I129902397"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101762512"],"corresponding_institution_ids":["https://openalex.org/I4210123185"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2832175,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1701","last_page":"1706"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9988999962806702,"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/block","display_name":"Block (permutation group theory)","score":0.7319273352622986},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7120251059532166},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.7116289734840393},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6639383435249329},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6445763111114502},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.573662281036377},{"id":"https://openalex.org/keywords/topographic-map","display_name":"Topographic map (neuroanatomy)","score":0.5120185017585754},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.49546539783477783},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.4635225236415863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4185003340244293},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1948036551475525},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1553116738796234},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.13533002138137817},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1303943693637848}],"concepts":[{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.7319273352622986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7120251059532166},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.7116289734840393},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6639383435249329},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6445763111114502},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.573662281036377},{"id":"https://openalex.org/C134649547","wikidata":"https://www.wikidata.org/wiki/Q7824961","display_name":"Topographic map (neuroanatomy)","level":3,"score":0.5120185017585754},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.49546539783477783},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.4635225236415863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4185003340244293},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1948036551475525},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1553116738796234},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.13533002138137817},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1303943693637848},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C6757342","wikidata":"https://www.wikidata.org/wiki/Q3486606","display_name":"Posterior parietal cortex","level":2,"score":0.0},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011710","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011710","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1999050017","https://openalex.org/W2020520924","https://openalex.org/W2037490150","https://openalex.org/W2133844819","https://openalex.org/W2139710904","https://openalex.org/W2143864104","https://openalex.org/W2152864241","https://openalex.org/W2471969791","https://openalex.org/W2809054577","https://openalex.org/W2894961607","https://openalex.org/W2964254867","https://openalex.org/W3001499506","https://openalex.org/W3028190729","https://openalex.org/W3111666733","https://openalex.org/W3176974620","https://openalex.org/W3212390381","https://openalex.org/W4281642191","https://openalex.org/W4285114669"],"related_works":["https://openalex.org/W2381265245","https://openalex.org/W2379522129","https://openalex.org/W98932386","https://openalex.org/W2369652851","https://openalex.org/W2364855022","https://openalex.org/W1975037220","https://openalex.org/W2389921867","https://openalex.org/W438740155","https://openalex.org/W2362366967","https://openalex.org/W2799443882"],"abstract_inverted_index":{"Dense":[0],"map":[1,72,91,104,115,126,164],"that":[2,140,215],"contains":[3],"the":[4,26,29,34,55,63,71,80,85,89,102,113,119,142,157,176,184,208,212,216],"surrounding":[5],"geometry":[6],"and":[7,22,47,70,150,211],"vision":[8,151],"information":[9],"of":[10,28,108,133,141,148,226,233],"a":[11,95,223,229],"robot":[12,35],"is":[13,36,59,73,116,127,136,165,199,205],"widely":[14],"used":[15,154,166],"for":[16],"path":[17],"planning,":[18],"navigation,":[19],"obstacle":[20],"avoidance":[21],"other":[23],"applications.":[24],"Considering":[25],"performance":[27],"processing":[30],"unit":[31],"mounted":[32],"on":[33,207],"limited,":[37],"mapping":[38,57,98,203,217],"algorithm":[39],"has":[40],"to":[41,75,100,155,167,190,194],"make":[42],"compromise":[43],"by":[44],"sacrificing":[45],"speed":[46],"precision.":[48],"It":[49],"will":[50,66,187],"be":[51,67,76,188],"more":[52],"challenging":[53],"when":[54,197],"dense":[56,103,121],"scene":[58,227],"very":[60],"large":[61,106,224],"because":[62],"memory":[64,191],"consumption":[65,232],"greatly":[68],"increased":[69,90],"difficult":[74],"extended":[77],"if":[78],"beyonding":[79],"initial":[81],"map.":[82,122,144,160],"To":[83],"suppress":[84],"negative":[86],"impact":[87],"from":[88],"scale,":[92],"we":[93],"proposed":[94],"novel":[96],"block":[97,131,169,185,202],"approach":[99,204,218],"generate":[101,156],"in":[105,222],"scale":[107,225],"scene.":[109],"In":[110],"this":[111],"work,":[112],"elevation":[114,125,159,163],"selected":[117],"as":[118],"base":[120],"The":[123,145,161],"entire":[124,143],"segmented":[128],"into":[129],"numerous":[130],"maps":[132,170,186],"which":[134,171,183],"size":[135],"much":[137,230],"smaller":[138,231],"than":[139],"present":[146],"moment":[147],"lidar":[149],"measurements":[152],"are":[153,172],"local":[158,162,195],"update":[168],"adaptively":[173],"generated":[174],"along":[175],"motion":[177],"trajectory.":[178],"A":[179],"memory-disk":[180],"interaction":[181],"mechanism,":[182],"loaded":[189],"or":[192],"saved":[193],"disk":[196],"needed,":[198],"introduced.":[200],"Our":[201],"tested":[206],"KITTI":[209],"datasets,":[210],"results":[213],"demonstrate":[214],"can":[219],"stably":[220],"operate":[221],"with":[228],"memory.":[234]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}