{"id":"https://openalex.org/W2167387804","doi":"https://doi.org/10.1109/robot.2009.5152493","title":"Comparison of surface normal estimation methods for range sensing applications","display_name":"Comparison of surface normal estimation methods for range sensing applications","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2167387804","doi":"https://doi.org/10.1109/robot.2009.5152493","mag":"2167387804"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1327205","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070961556","display_name":"Klaas Klasing","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"K. Klasing","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072761663","display_name":"Daniel Althoff","orcid":"https://orcid.org/0000-0001-5390-575X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"D. Althoff","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"D. Wollherr","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081223790","display_name":"Martin Buss","orcid":"https://orcid.org/0000-0002-1776-2752"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Buss","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070961556"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":289.5971,"has_fulltext":false,"cited_by_count":296,"citation_normalized_percentile":{"value":0.99972101,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3206","last_page":"3211"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9966999888420105,"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/robustness","display_name":"Robustness (evolution)","score":0.7441064715385437},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7379038333892822},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7052978277206421},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6437121629714966},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6401010751724243},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.550223171710968},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5485022664070129},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5095279812812805},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.499622106552124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44415390491485596},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.42070767283439636},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.41889840364456177},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10176357626914978}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7441064715385437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7379038333892822},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7052978277206421},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6437121629714966},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6401010751724243},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.550223171710968},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5485022664070129},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5095279812812805},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.499622106552124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44415390491485596},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.42070767283439636},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.41889840364456177},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10176357626914978},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robot.2009.5152493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.148.8699","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.148.8699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.lsr.ei.tum.de/fileadmin/publications/K._Klasing/KlasingAlthoff-ComparisonOfSurfaceNormalEstimationMethodsForRangeSensingApplications_ICRA09.pdf","raw_type":"text"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1327205","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1327205","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/979676","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/979676","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1327205","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1327205","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1981745143","https://openalex.org/W1984183434","https://openalex.org/W1986234613","https://openalex.org/W1988054474","https://openalex.org/W2001424961","https://openalex.org/W2030129920","https://openalex.org/W2050744010","https://openalex.org/W2058606296","https://openalex.org/W2099531331","https://openalex.org/W2100816864","https://openalex.org/W2111675376","https://openalex.org/W2136893407","https://openalex.org/W2137297080","https://openalex.org/W2140649816","https://openalex.org/W2152845613","https://openalex.org/W2166666737","https://openalex.org/W2336346096","https://openalex.org/W2485654595","https://openalex.org/W2798909945","https://openalex.org/W2998115525","https://openalex.org/W4245417301","https://openalex.org/W6680862331"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W1508899372","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"],"abstract_inverted_index":{"As":[0],"mobile":[1,83,169],"robotics":[2,137],"is":[3,31,71,151],"gradually":[4],"moving":[5],"towards":[6],"a":[7,32,51,57,82,88,101,168],"level":[8],"of":[9,23,34,59,93,141],"semantic":[10],"environment":[11],"understanding,":[12],"robust":[13],"3D":[14,67,163],"object":[15,29],"recognition":[16,30],"plays":[17],"an":[18],"increasingly":[19],"important":[20],"role.":[21],"One":[22],"the":[24,105,116,122,132,136,142],"most":[25],"crucial":[26],"prerequisites":[27],"for":[28,37,62,78,96,135],"set":[33],"fast":[35],"algorithms":[36,154],"geometry":[38],"segmentation":[39],"and":[40,91,109,127,148],"extraction,":[41],"which":[42,74],"in":[43],"turn":[44],"rely":[45],"on":[46,81,104,115,130],"surface":[47,97],"normal":[48,64,98],"vectors":[49,65],"as":[50,119,121,159,161],"fundamental":[52],"feature.":[53],"Although":[54],"there":[55],"exists":[56],"plethora":[58],"different":[60],"approaches":[61],"estimating":[63],"from":[66,167],"point":[68],"clouds,":[69],"it":[70],"largely":[72],"unclear":[73],"methods":[75,95,126,143],"are":[76,155],"preferable":[77],"online":[79],"processing":[80],"robot.":[84,170],"This":[85],"paper":[86],"presents":[87],"detailed":[89],"analysis":[90],"comparison":[92],"existing":[94],"estimation":[99],"with":[100,144,157],"special":[102],"emphasis":[103],"trade-off":[106],"between":[107,125],"quality":[108],"speed.":[110],"The":[111,139],"study":[112],"sheds":[113],"light":[114],"computational":[117],"complexity":[118],"well":[120,160],"qualitative":[123],"differences":[124],"provides":[128],"guidelines":[129],"choosing":[131],"dasiarightpsila":[133],"algorithm":[134],"practitioner.":[138],"robustness":[140],"respect":[145],"to":[146],"noise":[147],"neighborhood":[149],"size":[150],"analyzed.":[152],"All":[153],"benchmarked":[156],"simulated":[158],"real":[162],"laser":[164],"data":[165],"obtained":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":26},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":27},{"year":2018,"cited_by_count":17},{"year":2017,"cited_by_count":18},{"year":2016,"cited_by_count":22},{"year":2015,"cited_by_count":28},{"year":2014,"cited_by_count":33},{"year":2013,"cited_by_count":20},{"year":2012,"cited_by_count":16}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
