{"id":"https://openalex.org/W2889607033","doi":"https://doi.org/10.1109/tro.2018.2861911","title":"Robust Planar Odometry Based on Symmetric Range Flow and Multiscan Alignment","display_name":"Robust Planar Odometry Based on Symmetric Range Flow and Multiscan Alignment","publication_year":2018,"publication_date":"2018-09-05","ids":{"openalex":"https://openalex.org/W2889607033","doi":"https://doi.org/10.1109/tro.2018.2861911","mag":"2889607033"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2861911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2861911","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/10630/29845","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054987598","display_name":"Mariano Jaimez","orcid":"https://orcid.org/0000-0002-1885-2821"},"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":"Mariano Jaimez","raw_affiliation_strings":["Department of Computer Science, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1885-2821","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/A5020082464","display_name":"Javier Monroy","orcid":"https://orcid.org/0000-0001-7869-7811"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Monroy","raw_affiliation_strings":["Department of Systems Engineering and Automation, University of M\u00e1laga, M\u00e1laga, Spain"],"raw_orcid":"https://orcid.org/0000-0001-7869-7811","affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, University of M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075616113","display_name":"Manuel L\u00f3pez-Antequera","orcid":"https://orcid.org/0000-0002-9930-8106"},"institutions":[{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Manuel Lopez-Antequera","raw_affiliation_strings":["Intelligent Systems group, University of Groningen, Groningen, AK, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-9930-8106","affiliations":[{"raw_affiliation_string":"Intelligent Systems group, University of Groningen, Groningen, AK, The Netherlands","institution_ids":["https://openalex.org/I169381384"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070626607","display_name":"Javier Gonz\u00e1lez-Jim\u00e9nez","orcid":"https://orcid.org/0000-0003-3845-3497"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Gonzalez-Jimenez","raw_affiliation_strings":["Department of Systems Engineering and Automation, University of M\u00e1laga, M\u00e1laga, Spain"],"raw_orcid":"https://orcid.org/0000-0003-3845-3497","affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, University of M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.0704,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.98766395,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"34","issue":"6","first_page":"1623","last_page":"1635"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/odometry","display_name":"Odometry","score":0.7997589111328125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6699947714805603},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.625251054763794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5926269888877869},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5525057315826416},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4916108250617981},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.48420265316963196},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.48112836480140686},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.46445417404174805},{"id":"https://openalex.org/keywords/scanner","display_name":"Scanner","score":0.450204074382782},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40799272060394287},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32720017433166504},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1505240797996521},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.13924184441566467},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1070186197757721}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7997589111328125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6699947714805603},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.625251054763794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5926269888877869},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5525057315826416},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4916108250617981},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.48420265316963196},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.48112836480140686},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.46445417404174805},{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.450204074382782},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40799272060394287},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32720017433166504},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1505240797996521},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.13924184441566467},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1070186197757721},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2018.2861911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2861911","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:riuma.uma.es:10630/29845","is_oa":true,"landing_page_url":"https://hdl.handle.net/10630/29845","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"AM"}],"best_oa_location":{"id":"pmh:oai:riuma.uma.es:10630/29845","is_oa":true,"landing_page_url":"https://hdl.handle.net/10630/29845","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"AM"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W145691285","https://openalex.org/W1489258026","https://openalex.org/W1567242735","https://openalex.org/W1592348498","https://openalex.org/W1601878882","https://openalex.org/W1953793983","https://openalex.org/W1965330343","https://openalex.org/W1973629563","https://openalex.org/W1974156439","https://openalex.org/W1986172167","https://openalex.org/W2004312117","https://openalex.org/W2013175505","https://openalex.org/W2018014148","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2044980626","https://openalex.org/W2049981393","https://openalex.org/W2059403017","https://openalex.org/W2060794637","https://openalex.org/W2064451896","https://openalex.org/W2071571922","https://openalex.org/W2083624955","https://openalex.org/W2091226544","https://openalex.org/W2097345007","https://openalex.org/W2098836126","https://openalex.org/W2108762236","https://openalex.org/W2130763585","https://openalex.org/W2140881794","https://openalex.org/W2143924340","https://openalex.org/W2145166484","https://openalex.org/W2146881125","https://openalex.org/W2148487973","https://openalex.org/W2150066425","https://openalex.org/W2152864241","https://openalex.org/W2160584648","https://openalex.org/W2170228162","https://openalex.org/W2198680548","https://openalex.org/W2267107524","https://openalex.org/W2275442570","https://openalex.org/W2414941611","https://openalex.org/W2559165932","https://openalex.org/W2606926518","https://openalex.org/W4249866455","https://openalex.org/W6605846843","https://openalex.org/W6674688856","https://openalex.org/W6675320002"],"related_works":["https://openalex.org/W2950629728","https://openalex.org/W2945361206","https://openalex.org/W2956958956","https://openalex.org/W4288281616","https://openalex.org/W2296147781","https://openalex.org/W4243425824","https://openalex.org/W3004355449","https://openalex.org/W2129860101","https://openalex.org/W2213710363","https://openalex.org/W1973670979"],"abstract_inverted_index":{"This":[0,86],"paper":[1],"presents":[2],"a":[3,11,16,26,40,71,153,180],"dense":[4],"method":[5,115],"for":[6,162],"estimating":[7],"planar":[8,168],"motion":[9,34,45],"with":[10,59,118,170],"laser":[12],"scanner.":[13,48],"Starting":[14],"from":[15],"symmetric":[17],"representation":[18],"of":[19,35,42,46,92,102,107,113,137,155],"geometric":[20],"consistency":[21],"between":[22],"scans,":[23],"we":[24,69],"derive":[25],"precise":[27],"range":[28],"flow":[29],"constraint":[30],"and":[31,73,104,120,126,140],"express":[32],"the":[33,36,43,47,56,61,65,90,105,149],"scan":[37,58],"observations":[38],"as":[39,179],"function":[41],"rigid":[44],"In":[49],"contrast":[50],"to":[51,76],"existing":[52,145],"techniques,":[53],"which":[54],"align":[55,78],"incoming":[57],"either":[60],"previous":[62],"one":[63,135,157],"or":[64],"last":[66],"selected":[67],"keyscan,":[68],"propose":[70],"combined":[72],"efficient":[74],"formulation":[75,88],"jointly":[77],"all":[79,148],"these":[80],"three":[81],"scans":[82],"at":[83],"every":[84],"iteration.":[85],"new":[87],"preserves":[89],"advantages":[91],"keyscan-based":[93],"strategies":[94],"but,":[95],"is":[96,116,134,160,176],"more":[97,142],"robust":[98],"against":[99],"suboptimal":[100],"selection":[101],"keyscans":[103],"presence":[106],"moving":[108],"objects.":[109],"An":[110],"extensive":[111],"evaluation":[112],"our":[114,132],"presented":[117],"simulated":[119],"real":[121],"data":[122],"in":[123,147],"both":[124],"static":[125],"dynamic":[127],"environments.":[128],"Results":[129],"show":[130],"that":[131,166],"approach":[133],"order":[136],"magnitude":[138],"faster":[139],"significantly":[141],"accurate":[143],"than":[144],"methods":[146],"conducted":[150],"experiments.":[151],"With":[152],"runtime":[154],"about":[156],"millisecond,":[158],"it":[159],"suitable":[161],"those":[163],"robotic":[164],"applications":[165],"require":[167],"odometry":[169],"low":[171],"computational":[172],"cost.":[173],"The":[174],"code":[175],"available":[177],"online":[178],"ROS":[181],"package.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}