{"id":"https://openalex.org/W2019416232","doi":"https://doi.org/10.1109/ssrr.2012.6523879","title":"Interactive mapping in 3D using RGB-D data","display_name":"Interactive mapping in 3D using RGB-D data","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2019416232","doi":"https://doi.org/10.1109/ssrr.2012.6523879","mag":"2019416232"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2012.6523879","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2012.6523879","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5071265374","display_name":"Pedro M. Vieira","orcid":"https://orcid.org/0000-0001-5458-2307"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Vieira","raw_affiliation_strings":["Institute for Systems and Robotics, Institute Superior T&#x00E9;cnico, Av. Rovisco Pais, 1; Lisbon, Portugal","Inst. Super. Tecnico, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Institute Superior T&#x00E9;cnico, Av. Rovisco Pais, 1; Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"Inst. Super. Tecnico, Lisbon, Portugal","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052413681","display_name":"Rodrigo Ventura","orcid":"https://orcid.org/0000-0002-5655-9562"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rodrigo Ventura","raw_affiliation_strings":["Institute for Systems and Robotics, Institute Superior T&#x00E9;cnico, Av. Rovisco Pais, 1; Lisbon, Portugal","Inst. Super. Tecnico, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Institute Superior T&#x00E9;cnico, Av. Rovisco Pais, 1; Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"Inst. Super. Tecnico, Lisbon, Portugal","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.9522,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.98426251,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"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":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":0.9991999864578247,"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":0.998199999332428,"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/point-cloud","display_name":"Point cloud","score":0.8078718781471252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7624005675315857},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7323266863822937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6997519731521606},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6517861485481262},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5193279981613159},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5125000476837158},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4812071621417999},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.475159615278244},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.46540504693984985},{"id":"https://openalex.org/keywords/key-frame","display_name":"Key frame","score":0.44913920760154724},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4311748147010803},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.4251774847507477},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09875863790512085}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8078718781471252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7624005675315857},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7323266863822937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6997519731521606},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6517861485481262},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5193279981613159},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5125000476837158},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4812071621417999},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.475159615278244},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.46540504693984985},{"id":"https://openalex.org/C2780139006","wikidata":"https://www.wikidata.org/wiki/Q1493902","display_name":"Key frame","level":3,"score":0.44913920760154724},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4311748147010803},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.4251774847507477},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09875863790512085},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr.2012.6523879","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2012.6523879","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6000000238418579,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1187244281","https://openalex.org/W1490670270","https://openalex.org/W1501745944","https://openalex.org/W1519865121","https://openalex.org/W1656165940","https://openalex.org/W2049981393","https://openalex.org/W2139765204","https://openalex.org/W2158057652","https://openalex.org/W6627862999"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W2909957174","https://openalex.org/W136674370","https://openalex.org/W4246278799","https://openalex.org/W2105527480","https://openalex.org/W855007925","https://openalex.org/W2618671746","https://openalex.org/W2898107007"],"abstract_inverted_index":{"The":[0,168],"task":[1],"of":[2,35,62,75,131,138,163,183,191,225],"3D":[3,64,111],"mapping":[4],"indoor":[5],"environments":[6],"in":[7,55,85,101,128,144,148],"Search":[8,213],"and":[9,38,116,133,174,199,214],"Rescue":[10,215],"missions":[11],"can":[12,25],"be":[13,26],"very":[14],"useful":[15],"on":[16,72,205],"providing":[17],"detailed":[18],"spacial":[19],"informarion":[20],"to":[21,58,90,94,98,110,172,188],"human":[22,126,158],"teams.":[23],"This":[24,106],"accomplished":[27],"using":[28,201],"field":[29],"robots,":[30],"equipped":[31,204],"with":[32,100,165,180],"sensors":[33],"capable":[34],"obtaining":[36],"depth":[37,67,81],"color":[39],"data,":[40,115],"such":[41],"as":[42],"the":[43,47,56,60,73,76,129,140,146,154,161,181,189,206,223,226],"one":[44],"provided":[45],"by":[46,151],"Kinect":[48],"sensor.":[49],"Several":[50],"methods":[51,70],"have":[52],"been":[53],"proposed":[54,155],"literature":[57],"address":[59],"problem":[61],"automatic":[63,104],"reconstruction":[65,112],"from":[66,113],"data.":[68],"Most":[69],"rely":[71],"minimization":[74],"matching":[77,92,147],"error":[78],"among":[79],"individual":[80,176],"frames.":[82],"However,":[83],"ambiguity":[84],"sensor":[86],"data":[87],"often":[88],"leads":[89],"erroneous":[91,135],"(due":[93],"local":[95],"minima),":[96],"hard":[97],"cope":[99],"a":[102,118,125,149,184,202],"purely":[103],"approach.":[105],"paper":[107],"is":[108,170],"targeted":[109],"RGB-D":[114,177],"proposes":[117],"semi-automatic":[119],"approach,":[120],"denoted":[121],"Interactive":[122],"Mapping,":[123],"involving":[124],"operator":[127,141],"process":[130],"detecting":[132],"correcting":[134,145],"matches.":[136],"Instead":[137],"allowing":[139],"complete":[142],"freedom":[143,164],"frame":[150,152],"basis,":[153],"method":[156],"constrains":[157],"intervention":[159],"along":[160],"degrees":[162],"most":[166],"uncertainty.":[167],"user":[169],"able":[171],"translate":[173],"rotate":[175],"point":[178,193],"clouds,":[179],"help":[182],"force":[185],"field-like":[186],"reaction":[187],"movement":[190],"each":[192],"cloud.":[194],"A":[195],"dataset":[196],"was":[197],"obtained":[198],"used":[200],"kinect":[203],"tracked":[207],"wheel":[208],"robot":[209],"RAPOSA-NG,":[210],"developed":[211],"for":[212],"missions.":[216],"Some":[217],"preliminary":[218],"results":[219],"are":[220],"presented,":[221],"illustrating":[222],"advantages":[224],"method.":[227]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
