{"id":"https://openalex.org/W2000462596","doi":"https://doi.org/10.1109/tase.2015.2408456","title":"Cloud-Based Collaborative 3D Mapping in Real-Time With Low-Cost Robots","display_name":"Cloud-Based Collaborative 3D Mapping in Real-Time With Low-Cost Robots","publication_year":2015,"publication_date":"2015-03-12","ids":{"openalex":"https://openalex.org/W2000462596","doi":"https://doi.org/10.1109/tase.2015.2408456","mag":"2000462596"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2015.2408456","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2015.2408456","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5040864655","display_name":"Gajamohan Mohanarajah","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Gajamohan Mohanarajah","raw_affiliation_strings":["ETH Zurich, Department of Mechanical and Process Engineering, Zurich, Switzerland","Department of Mechanical and Process Engineering; ETH Zurich; Zurich Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich, Department of Mechanical and Process Engineering, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Department of Mechanical and Process Engineering; ETH Zurich; Zurich Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011956228","display_name":"Vladyslav Usenko","orcid":"https://orcid.org/0000-0002-8140-882X"},"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":"Vladyslav Usenko","raw_affiliation_strings":["Department of Computer Science, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100819933","display_name":"Mayank Singh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mayank Singh","raw_affiliation_strings":["Cisco Systems, Bangalore, India","CISCO Systems, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"Cisco Systems, Bangalore, India","institution_ids":[]},{"raw_affiliation_string":"CISCO Systems, Bangalore, India","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050557198","display_name":"Raffaello D\u2019Andrea","orcid":"https://orcid.org/0000-0001-5287-7849"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Raffaello D'Andrea","raw_affiliation_strings":["ETH Zurich, Department of Mechanical and Process Engineering, Zurich, Switzerland","Department of Mechanical and Process Engineering Zurich, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich, Department of Mechanical and Process Engineering, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Department of Mechanical and Process Engineering Zurich, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111914136","display_name":"Markus Waibel","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Markus Waibel","raw_affiliation_strings":["ETH Zurich, Department of Mechanical and Process Engineering, Zurich, Switzerland","Department of Mechanical and Process Engineering Zurich, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich, Department of Mechanical and Process Engineering, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Department of Mechanical and Process Engineering Zurich, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5040864655"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":19.4181,"has_fulltext":false,"cited_by_count":138,"citation_normalized_percentile":{"value":0.99462024,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"12","issue":"2","first_page":"423","last_page":"431"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13382","display_name":"Robotics and Automated Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7646328806877136},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.7148203253746033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7099170684814453},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6583623886108398},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6517828702926636},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.6463468670845032},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6143083572387695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5925604701042175},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5509811043739319},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4920606017112732},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47411635518074036},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.46230971813201904},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.42043086886405945},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3998670279979706},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3849096894264221},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11376962065696716},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.10624602437019348}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7646328806877136},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.7148203253746033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7099170684814453},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6583623886108398},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6517828702926636},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.6463468670845032},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6143083572387695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5925604701042175},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5509811043739319},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4920606017112732},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47411635518074036},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.46230971813201904},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.42043086886405945},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3998670279979706},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3849096894264221},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11376962065696716},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.10624602437019348}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2015.2408456","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2015.2408456","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.691.6711","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.691.6711","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://rapyuta.org/_media/mohtase14-2.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.5299999713897705,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1578482962","https://openalex.org/W1611306188","https://openalex.org/W1986533639","https://openalex.org/W1987648924","https://openalex.org/W1989838848","https://openalex.org/W1990687916","https://openalex.org/W2007778212","https://openalex.org/W2018014148","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2038245875","https://openalex.org/W2056298239","https://openalex.org/W2071398263","https://openalex.org/W2076917298","https://openalex.org/W2091226544","https://openalex.org/W2094017627","https://openalex.org/W2097299275","https://openalex.org/W2110357983","https://openalex.org/W2116516211","https://openalex.org/W2119738171","https://openalex.org/W2144824356","https://openalex.org/W2153054365","https://openalex.org/W2275530856","https://openalex.org/W2598306943","https://openalex.org/W2901136733","https://openalex.org/W3016205154","https://openalex.org/W4231540666","https://openalex.org/W4235773083","https://openalex.org/W6634445690","https://openalex.org/W6647919513","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"This":[0,85],"paper":[1,86],"presents":[2],"an":[3],"architecture,":[4],"protocol,":[5],"and":[6,44,106],"parallel":[7,42],"algorithms":[8],"for":[9,41],"collaborative":[10],"3D":[11],"mapping":[12],"in":[13,80],"the":[14,33,39,54,57,61,66],"cloud":[15,40,55,75],"with":[16,46],"low-cost":[17],"robots.":[18,51,67],"The":[19],"robots":[20],"run":[21],"a":[22,28,74,81],"dense":[23],"visual":[24,34],"odometry":[25,35],"algorithm":[26],"on":[27],"smartphone-class":[29],"processor.":[30],"Key-frames":[31],"from":[32],"are":[36,70],"sent":[37],"to":[38,65],"optimization":[43,53],"merging":[45],"maps":[47],"produced":[48],"by":[49,72],"other":[50],"After":[52],"pushes":[56],"updated":[58],"poses":[59],"of":[60,90,99],"local":[62],"key-frames":[63],"back":[64],"All":[68],"processes":[69],"managed":[71],"Rapyuta,":[73],"robotics":[76],"framework":[77],"that":[78],"runs":[79],"commercial":[82],"data":[83],"center.":[84],"includes":[87],"qualitative":[88],"visualization":[89],"collaboratively":[91],"built":[92],"maps,":[93],"as":[94,96],"well":[95],"quantitative":[97],"evaluation":[98],"localization":[100],"accuracy,":[101],"bandwidth":[102],"usage,":[103],"processing":[104],"speeds,":[105],"map":[107],"storage.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":20},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}