{"id":"https://openalex.org/W2912587656","doi":"https://doi.org/10.1109/tro.2018.2889262","title":"Super Rays and Culling Region for Real-Time Updates on Grid-Based Occupancy Maps","display_name":"Super Rays and Culling Region for Real-Time Updates on Grid-Based Occupancy Maps","publication_year":2019,"publication_date":"2019-01-24","ids":{"openalex":"https://openalex.org/W2912587656","doi":"https://doi.org/10.1109/tro.2018.2889262","mag":"2912587656"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2889262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2889262","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101483557","display_name":"Youngsun Kwon","orcid":"https://orcid.org/0000-0003-3615-0898"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngsun Kwon","raw_affiliation_strings":["School of Computing, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-3615-0898","affiliations":[{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100682309","display_name":"Donghyuk Kim","orcid":"https://orcid.org/0000-0002-0667-2858"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghyuk Kim","raw_affiliation_strings":["School of Computing, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0667-2858","affiliations":[{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048070637","display_name":"Inkyu An","orcid":"https://orcid.org/0000-0001-6812-1587"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Inkyu An","raw_affiliation_strings":["School of Computing, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-6812-1587","affiliations":[{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078173428","display_name":"Sung\u2010Eui Yoon","orcid":"https://orcid.org/0000-0002-7123-1119"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-eui Yoon","raw_affiliation_strings":["School of Computing, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-7123-1119","affiliations":[{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":20.2421,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.98691457,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"35","issue":"2","first_page":"482","last_page":"497"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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"}},"topics":[{"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.8493251800537109},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.7834750413894653},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7047920823097229},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6480107307434082},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5023066997528076},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4863036572933197},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4464254379272461},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4268905818462372},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24255815148353577},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1979708969593048},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.1504538655281067}],"concepts":[{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.8493251800537109},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.7834750413894653},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7047920823097229},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6480107307434082},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5023066997528076},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4863036572933197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4464254379272461},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4268905818462372},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24255815148353577},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1979708969593048},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.1504538655281067},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2018.2889262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2889262","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1532701078","https://openalex.org/W1542612979","https://openalex.org/W1553636913","https://openalex.org/W1947421145","https://openalex.org/W1977189000","https://openalex.org/W1981965276","https://openalex.org/W1993572304","https://openalex.org/W2000259215","https://openalex.org/W2020203542","https://openalex.org/W2060613652","https://openalex.org/W2074954154","https://openalex.org/W2115579991","https://openalex.org/W2122736190","https://openalex.org/W2132563333","https://openalex.org/W2133844819","https://openalex.org/W2142499637","https://openalex.org/W2152864241","https://openalex.org/W2154418813","https://openalex.org/W2167724667","https://openalex.org/W2171642338","https://openalex.org/W2291737362","https://openalex.org/W2419636233","https://openalex.org/W2515936176","https://openalex.org/W2563804180","https://openalex.org/W2569527682","https://openalex.org/W2738569225","https://openalex.org/W6631963404","https://openalex.org/W6633068743","https://openalex.org/W6717382992","https://openalex.org/W6725769274"],"related_works":["https://openalex.org/W2366394613","https://openalex.org/W2571360927","https://openalex.org/W1966588165","https://openalex.org/W2366882215","https://openalex.org/W1588720508","https://openalex.org/W2999136174","https://openalex.org/W1973670979","https://openalex.org/W2086929871","https://openalex.org/W1997034559","https://openalex.org/W2069551012"],"abstract_inverted_index":{"In":[0,251],"this":[1],"paper,":[2],"we":[3,48,94,121,229],"present":[4],"two":[5],"novel":[6],"approaches,":[7],"super":[8,51,70,91,142],"rays":[9,59,71,77,92,143],"and":[10,78,101,152,197,208,224,234,274],"culling":[11,124,154],"region,":[12],"for":[13,85,98,134,162],"efficiently":[14],"updating":[15,86,163],"grid-based":[16,183,219],"occupancy":[17,35,128,249],"maps":[18,220],"with":[19],"point":[20,257],"clouds.":[21],"Rays,":[22],"which":[23],"traverse":[24],"from":[25,104],"the":[26,30,34,45,61,66,73,80,87,114,118,127,131,145,153,157,164,173,187,191,214,222,231,235,242,246,267,271,276],"sensor":[27,31],"origin":[28],"to":[29,57,205],"data,":[32],"update":[33,146,174,188,216,232,272],"probabilities":[36],"of":[37,76,82,130,159,181,190,218,238],"a":[38,50,54,123,149,167,182,252,281],"map":[39,67,133],"representing":[40],"an":[41,105],"environment.":[42],"Based":[43],"on":[44,117,270],"ray":[46,52,56],"model,":[47],"define":[49],"as":[53],"representative":[55],"multiple":[58],"having":[60],"same":[62],"traversal":[63,115],"patterns":[64,116],"during":[65],"updates.":[68,140],"Our":[69,200],"utilize":[72],"geometric":[74],"information":[75],"reduce":[79],"number":[81,158],"points":[83,111],"used":[84],"map.":[88,119,165,184],"For":[89],"constructing":[90],"efficiently,":[93],"propose":[95],"mapping":[96],"lines":[97],"handling":[99],"two-":[100],"three-dimensional":[102],"cases":[103],"observation":[106],"that":[107,255],"edges":[108],"or":[109],"grid":[110],"branch":[112],"out":[113],"Furthermore,":[120],"introduce":[122],"region":[125,155],"using":[126,194,241],"states":[129],"updated":[132],"reducing":[135],"redundant":[136],"computations":[137],"occurred":[138],"in":[139,148,221,261],"The":[141],"perform":[144],"process":[147],"single":[150],"traversal,":[151],"reduces":[156],"unnecessary":[160],"traversals":[161],"As":[166],"result,":[168],"our":[169,239,264],"combined":[170,201],"method":[171,193,240,265],"improves":[172],"performance":[175,189,211,269],"without":[176],"compromising":[177],"any":[178],"representation":[179,236,278],"accuracy":[180,237,279],"We":[185],"test":[186],"proposed":[192],"public":[195],"indoor":[196,223],"outdoor":[198,225],"datasets.":[199],"approach":[202],"shows":[203,266],"up":[204],"11.8":[206],"times":[207,210],"2.8":[209],"improvement":[212],"over":[213,245],"state-of-the-art":[215,247],"methods":[217],"scenes,":[226],"respectively.":[227],"Also,":[228],"compare":[230],"speed":[233,273],"KITTI":[243],"dataset":[244],"learning-based":[248],"maps.":[250],"navigation":[253],"scenario":[254],"raw":[256],"clouds":[258],"are":[259],"acquired":[260],"10":[262],"Hz,":[263],"best":[268],"thus":[275],"highest":[277],"within":[280],"given":[282],"time.":[283]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":8},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}