{"id":"https://openalex.org/W2975847968","doi":"https://doi.org/10.1109/ssrr.2019.8848964","title":"Large Scale 2D Laser SLAM using Truncated Signed Distance Functions","display_name":"Large Scale 2D Laser SLAM using Truncated Signed Distance Functions","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2975847968","doi":"https://doi.org/10.1109/ssrr.2019.8848964","mag":"2975847968"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2019.8848964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2019.8848964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5034108712","display_name":"Kevin Daun","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kevin Daun","raw_affiliation_strings":["Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018000361","display_name":"Stefan Kohlbrecher","orcid":"https://orcid.org/0000-0002-8755-1512"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Kohlbrecher","raw_affiliation_strings":["Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110234358","display_name":"J\u00fcrgen Sturm","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jurgen Sturm","raw_affiliation_strings":["Google Germany GmbH, M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google Germany GmbH, M\u00fcnchen, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014799780","display_name":"Oskar von Stryk","orcid":"https://orcid.org/0000-0002-2790-6115"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oskar von Stryk","raw_affiliation_strings":["Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"222","last_page":"228"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9939000010490417,"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/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.8932405710220337},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7882457971572876},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7184333205223083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7109911441802979},{"id":"https://openalex.org/keywords/signed-distance-function","display_name":"Signed distance function","score":0.6223714351654053},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5592799186706543},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5325098633766174},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5116653442382812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5036703944206238},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4959805905818939},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4845225214958191},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.47141358256340027},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4638858437538147},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.4588613510131836},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.41306090354919434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3816065788269043},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.16556936502456665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14671778678894043},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10986572504043579},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09406173229217529}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.8932405710220337},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7882457971572876},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7184333205223083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7109911441802979},{"id":"https://openalex.org/C71169176","wikidata":"https://www.wikidata.org/wiki/Q7512907","display_name":"Signed distance function","level":2,"score":0.6223714351654053},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5592799186706543},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5325098633766174},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5116653442382812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5036703944206238},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4959805905818939},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4845225214958191},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.47141358256340027},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4638858437538147},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.4588613510131836},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.41306090354919434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3816065788269043},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.16556936502456665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14671778678894043},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10986572504043579},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09406173229217529},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ssrr.2019.8848964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2019.8848964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:129758","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/129758/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1656165940","https://openalex.org/W1967740178","https://openalex.org/W1987648924","https://openalex.org/W1995443731","https://openalex.org/W1997191526","https://openalex.org/W2005389775","https://openalex.org/W2009422376","https://openalex.org/W2049479307","https://openalex.org/W2080823437","https://openalex.org/W2130422193","https://openalex.org/W2140881794","https://openalex.org/W2198680548","https://openalex.org/W2243794092","https://openalex.org/W2411093439","https://openalex.org/W2475007749","https://openalex.org/W2778797875"],"related_works":["https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2130588278","https://openalex.org/W2140013578","https://openalex.org/W2551663027","https://openalex.org/W3130035014","https://openalex.org/W1750372561","https://openalex.org/W3097864550","https://openalex.org/W2132105173"],"abstract_inverted_index":{"For":[0],"deployment":[1],"in":[2,17,56,77,131,164],"previously":[3],"unknown,":[4],"unstructured":[5],"and":[6,20,30,62,87,161],"GPS-denied":[7],"environments,":[8],"autonomous":[9],"mobile":[10],"rescue":[11,162],"robots":[12],"need":[13],"to":[14,42,59,66,73,133,152],"localize":[15],"themselves":[16],"the":[18,46,71,74,89,115,125,147],"environment":[19,157],"create":[21],"a":[22,27,44,154],"map":[23,153],"of":[24,48,91,93,100,114],"it":[25,143],"using":[26],"simultaneous":[28],"localization":[29,86],"mapping":[31,99],"(SLAM)":[32],"approach.":[33],"While":[34],"most":[35],"existing":[36],"lidar-based":[37],"methods":[38],"use":[39,47],"occupancy":[40,67,134],"grids":[41],"represent":[43,70],"map,":[45],"truncated":[49],"signed":[50],"distance":[51,72],"functions":[52],"(TSDFs)":[53],"is":[54,110,144,150],"investigated":[55],"this":[57],"paper":[58],"improve":[60],"accuracy":[61,130],"robustness.":[63],"In":[64],"contrast":[65],"grids,":[68],"TSDFs":[69],"nearest":[75],"surface":[76],"every":[78],"grid":[79,135],"cell.":[80],"This":[81],"enables":[82],"sub-pixel":[83],"precision":[84],"during":[85],"increases":[88],"basin":[90],"convergence":[92],"scan":[94],"matching.":[95],"To":[96],"enable":[97],"consistent":[98],"large":[101,155],"spaces,":[102],"an":[103],"efficient":[104],"branch-and-bound":[105],"based":[106,136],"loop":[107],"closure":[108],"detection":[109],"applied.":[111],"The":[112],"evaluation":[113],"proposed":[116,126,148],"approach":[117,127,149],"with":[118,158],"publicly":[119],"available":[120],"benchmark":[121],"data":[122],"shows":[123],"that":[124,146],"yields":[128],"improved":[129],"comparison":[132],"methods,":[137],"while":[138],"requiring":[139],"similar":[140],"runtime.":[141],"Furthermore,":[142],"demonstrated":[145],"able":[151],"scale":[156],"urban":[159],"search":[160],"elements":[163],"real-time.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
