{"id":"https://openalex.org/W2975029727","doi":"https://doi.org/10.1109/ssrr.2019.8848965","title":"Compressing ROS Sensor and Geometry Messages with Draco","display_name":"Compressing ROS Sensor and Geometry Messages with Draco","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2975029727","doi":"https://doi.org/10.1109/ssrr.2019.8848965","mag":"2975029727"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2019.8848965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2019.8848965","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":"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/A5054173444","display_name":"Thomas Wiemann","orcid":"https://orcid.org/0000-0003-0710-872X"},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Wiemann","raw_affiliation_strings":["University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany","institution_ids":["https://openalex.org/I170658231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054740214","display_name":"Felix Igelbrink","orcid":null},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Igelbrink","raw_affiliation_strings":["University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany","institution_ids":["https://openalex.org/I170658231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102977992","display_name":"Sebastian P\u00fctz","orcid":"https://orcid.org/0000-0002-4210-4233"},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Putz","raw_affiliation_strings":["University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany","institution_ids":["https://openalex.org/I170658231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058967481","display_name":"Malte Kleine Piening","orcid":null},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Malte Kleine Piening","raw_affiliation_strings":["University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany","institution_ids":["https://openalex.org/I170658231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036966437","display_name":"Steffen Schupp","orcid":"https://orcid.org/0000-0003-1304-294X"},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen Schupp","raw_affiliation_strings":["University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany","institution_ids":["https://openalex.org/I170658231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061074173","display_name":"Steffen Hinderink","orcid":"https://orcid.org/0000-0001-6873-4420"},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen Hinderink","raw_affiliation_strings":["University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany","institution_ids":["https://openalex.org/I170658231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018398677","display_name":"Juri Vana","orcid":null},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Juri Vana","raw_affiliation_strings":["University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany","institution_ids":["https://openalex.org/I170658231"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020594579","display_name":"Joachim Hertzberg","orcid":"https://orcid.org/0000-0002-6371-9624"},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joachim Hertzberg","raw_affiliation_strings":["University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Osnabr\u00fcck, Knowledge Based Systems Group, Osnabr\u00fcck, Germany","institution_ids":["https://openalex.org/I170658231"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170658231"],"apc_list":null,"apc_paid":null,"fwci":12.8815,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.98100618,"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":"243","last_page":"248"},"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/T10888","display_name":"Augmented Reality Applications","score":0.9991000294685364,"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/T10586","display_name":"Robotic Path Planning Algorithms","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/computer-science","display_name":"Computer science","score":0.6985521912574768},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.5115907788276672},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49347245693206787},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.42576074600219727},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4183506369590759},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.41305074095726013},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40831178426742554},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37459632754325867},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11937284469604492}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6985521912574768},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.5115907788276672},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49347245693206787},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.42576074600219727},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4183506369590759},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.41305074095726013},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40831178426742554},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37459632754325867},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11937284469604492}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr.2019.8848965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2019.8848965","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W173687888","https://openalex.org/W1510415317","https://openalex.org/W1987648924","https://openalex.org/W1989305571","https://openalex.org/W2050755052","https://openalex.org/W2142636632","https://openalex.org/W2143769815","https://openalex.org/W2152864241","https://openalex.org/W2562648098","https://openalex.org/W2795672906","https://openalex.org/W2905544027","https://openalex.org/W2911819174","https://openalex.org/W6630280835","https://openalex.org/W6730477804"],"related_works":["https://openalex.org/W2486460843","https://openalex.org/W2168109476","https://openalex.org/W1968121071","https://openalex.org/W2061647633","https://openalex.org/W8302103","https://openalex.org/W2020254986","https://openalex.org/W2686985752","https://openalex.org/W1992540108","https://openalex.org/W2307385607","https://openalex.org/W2074225891"],"abstract_inverted_index":{"Current":[0],"development":[1],"in":[2,24],"sensor":[3],"technology":[4],"allows":[5],"to":[6,52,65],"capture":[7],"highly":[8],"detailed":[9],"geometric":[10],"3D":[11],"environment":[12],"models":[13],"fast":[14],"and":[15,27,35,89],"online":[16],"with":[17],"laser":[18],"scanners":[19],"or":[20],"RGB-D":[21],"cameras.":[22],"However,":[23],"most":[25],"rescue":[26],"service":[28],"scenarios,":[29],"the":[30,54,71,84],"available":[31],"bandwidth":[32,56],"between":[33],"operator":[34],"controlled":[36],"robots":[37],"is":[38],"limited.":[39],"In":[40],"this":[41,96],"paper,":[42],"we":[43,78],"integrate":[44],"Google's":[45],"geometry":[46,59],"compression":[47,86],"library":[48],"Draco":[49,94],"into":[50],"ROS":[51],"reduce":[53],"required":[55],"when":[57,92],"sending":[58],"data":[60],"from":[61],"a":[62,66,75],"remote-controlled":[63],"robot":[64],"RViz":[67],"instance":[68],"running":[69],"on":[70],"operator's":[72],"computer.":[73],"Besides":[74],"prototypical":[76],"implementation,":[77],"present":[79],"an":[80],"in-depth":[81],"analysis":[82],"of":[83],"achievable":[85],"rates,":[87],"accuracy":[88],"resulting":[90],"latency":[91],"using":[93],"for":[95],"purpose.":[97]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
