{"id":"https://openalex.org/W2999291518","doi":"https://doi.org/10.1109/sensors43011.2019.8956928","title":"FPGA-based Architecture for a Low-Cost 3D Lidar Design and Implementation from Multiple Rotating 2D Lidars with ROS","display_name":"FPGA-based Architecture for a Low-Cost 3D Lidar Design and Implementation from Multiple Rotating 2D Lidars with ROS","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2999291518","doi":"https://doi.org/10.1109/sensors43011.2019.8956928","mag":"2999291518"},"language":"en","primary_location":{"id":"doi:10.1109/sensors43011.2019.8956928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sensors43011.2019.8956928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE SENSORS","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.utupub.fi/bitstream/10024/160183/1/PenaQueralta_IEEE_SENSORS2020.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034604688","display_name":"Jorge Pe\u00f1a Queralta","orcid":"https://orcid.org/0000-0003-3091-3217"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"J. Pe\u00f1a Queralta","raw_affiliation_strings":["University of Turku,Department of Future Technologies,Finland","Department of Future Technologies, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Department of Future Technologies,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Department of Future Technologies, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":null,"display_name":"F. Yuhong","orcid":null},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"F. Yuhong","raw_affiliation_strings":["University of Turku,Department of Future Technologies,Finland","Department of Future Technologies, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Department of Future Technologies,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Department of Future Technologies, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023848190","display_name":"Lassi Salomaa","orcid":"https://orcid.org/0000-0001-6780-4394"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"L. Salomaa","raw_affiliation_strings":["University of Turku,Department of Future Technologies,Finland","Department of Future Technologies, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Department of Future Technologies,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Department of Future Technologies, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050580578","display_name":"Qingqing Li","orcid":"https://orcid.org/0000-0001-6556-2213"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"L. Qingqing","raw_affiliation_strings":["University of Turku,Department of Future Technologies,Finland","Department of Future Technologies, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Department of Future Technologies,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Department of Future Technologies, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054438127","display_name":"Tuan Nguyen Gia","orcid":"https://orcid.org/0000-0002-9851-9868"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"T. N. Gia","raw_affiliation_strings":["University of Turku,Department of Future Technologies,Finland","Department of Future Technologies, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Department of Future Technologies,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Department of Future Technologies, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043039025","display_name":"Zhuo Zou","orcid":"https://orcid.org/0000-0002-8546-1329"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Z. Zou","raw_affiliation_strings":["Fudan Universtiy,School of Information Science and Technology,China","School of Information Science and Technology, Fudan Universtiy, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan Universtiy,School of Information Science and Technology,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"School of Information Science and Technology, Fudan Universtiy, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003371230","display_name":"Hannu Tenhunen","orcid":"https://orcid.org/0000-0003-1959-6513"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"H. Tenhunen","raw_affiliation_strings":["KTH Royal Institute of Technology,Department of Electronics,Sweden","Department of Electronics, KTH Royal Institute of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Department of Electronics,Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Department of Electronics, KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031850966","display_name":"Tomi Westerlund","orcid":"https://orcid.org/0000-0002-1793-2694"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"T. Westerlund","raw_affiliation_strings":["University of Turku,Department of Future Technologies,Finland","Department of Future Technologies, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Department of Future Technologies,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Department of Future Technologies, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":33.1235,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":{"value":0.99339998,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9993000030517578,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8996114730834961},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8372400999069214},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.7911048531532288},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6899751424789429},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5683344006538391},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5071580410003662},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4836338758468628},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.45048025250434875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4146426022052765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39230138063430786},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3671603798866272},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30728065967559814},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.3030257821083069},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.28420644998550415},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08901417255401611}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8996114730834961},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8372400999069214},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.7911048531532288},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6899751424789429},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5683344006538391},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5071580410003662},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4836338758468628},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.45048025250434875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4146426022052765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39230138063430786},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3671603798866272},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30728065967559814},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.3030257821083069},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.28420644998550415},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08901417255401611},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sensors43011.2019.8956928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sensors43011.2019.8956928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE SENSORS","raw_type":"proceedings-article"},{"id":"pmh:oai:www.utupub.fi:10024/160183","is_oa":true,"landing_page_url":"https://www.utupub.fi/handle/10024/160183","pdf_url":"https://www.utupub.fi/bitstream/10024/160183/1/PenaQueralta_IEEE_SENSORS2020.pdf","source":{"id":"https://openalex.org/S4306402470","display_name":"UTUPub (University of Turku)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I155660961","host_organization_name":"University of Turku","host_organization_lineage":["https://openalex.org/I155660961"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:www.utupub.fi:10024/160183","is_oa":true,"landing_page_url":"https://www.utupub.fi/handle/10024/160183","pdf_url":"https://www.utupub.fi/bitstream/10024/160183/1/PenaQueralta_IEEE_SENSORS2020.pdf","source":{"id":"https://openalex.org/S4306402470","display_name":"UTUPub (University of Turku)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I155660961","host_organization_name":"University of Turku","host_organization_lineage":["https://openalex.org/I155660961"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2999291518.pdf","grobid_xml":"https://content.openalex.org/works/W2999291518.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1974900073","https://openalex.org/W2023991624","https://openalex.org/W2062466621","https://openalex.org/W2091505087","https://openalex.org/W2114326338","https://openalex.org/W2119398487","https://openalex.org/W2132360065","https://openalex.org/W2136418123","https://openalex.org/W2296228853","https://openalex.org/W2415454270","https://openalex.org/W2555618208","https://openalex.org/W2606482175","https://openalex.org/W2898181325","https://openalex.org/W2944530014","https://openalex.org/W2945505203","https://openalex.org/W2963083779","https://openalex.org/W4288417654"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W3197329366","https://openalex.org/W3212920529","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"Three-dimensional":[0],"representations":[1],"and":[2,10,18,77,103,158,178],"maps":[3],"are":[4,97],"the":[5,34,51,115,134,139,146,155,193],"key":[6],"behind":[7],"self-driving":[8,69],"vehicles":[9],"many":[11],"types":[12],"of":[13,26,36,44,53,68,131,154,174,195],"advanced":[14],"autonomous":[15,180],"robots.":[16,81],"Localization":[17],"mapping":[19,130,199],"algorithms":[20],"can":[21,183],"achieve":[22],"much":[23],"higher":[24],"levels":[25],"accuracy":[27],"with":[28,41,89,107],"dense":[29],"3D":[30,61,86,126],"point":[31,127,141],"clouds.":[32],"However,":[33],"cost":[35,52,72],"a":[37,42,100,125,163,171],"multiple-channel":[38],"three-dimensional":[39,140,188],"lidar":[40,87,136,159],"360\u00b0field":[43],"view":[45],"is":[46,143],"at":[47,145],"least":[48],"ten":[49],"times":[50],"an":[54,65,84,108],"equivalent":[55],"single-channel":[56],"two-dimensional":[57,135],"lidar.":[58],"Therefore,":[59],"while":[60],"lidars":[62],"have":[63],"become":[64],"essential":[66],"component":[67],"vehicles,":[70],"their":[71,75,104],"has":[73,120],"limited":[74],"integration":[76],"penetration":[78],"within":[79],"smaller":[80,179],"We":[82,191],"present":[83],"FPGA-based":[85],"built":[88],"multiple":[90],"inexpensive":[91,168],"RPLidar":[92],"A1":[93],"2D":[94],"lidars,":[95],"which":[96,123,182],"rotated":[98],"via":[99],"servo":[101],"motor":[102,156],"signals":[105],"combined":[106],"FPGA":[109,147],"board.":[110],"A":[111],"C++":[112],"package":[113],"for":[114,176],"Robot":[116],"Operating":[117],"System":[118],"(ROS)":[119],"been":[121],"written,":[122],"publishes":[124],"cloud.":[128],"The":[129],"points":[132],"from":[133],"output":[137],"to":[138,186],"cloud":[142],"done":[144],"level,":[148],"as":[149,151],"well":[150],"continuous":[152],"calibration":[153],"speed":[157],"orientation":[160],"based":[161],"on":[162],"built-in":[164],"landmark":[165],"recognition.":[166],"This":[167],"design":[169,197],"opens":[170],"wider":[172],"range":[173],"possibilities":[175,194],"lower-end":[177],"robots,":[181],"be":[184],"able":[185],"produce":[187],"world":[189],"representations.":[190],"demonstrate":[192],"our":[196],"by":[198],"different":[200],"environments.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":7},{"year":2020,"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"}
