{"id":"https://openalex.org/W3085003843","doi":"https://doi.org/10.1109/tro.2022.3177950","title":"Autonomous Navigation in Unknown Environments With Sparse Bayesian Kernel-Based Occupancy Mapping","display_name":"Autonomous Navigation in Unknown Environments With Sparse Bayesian Kernel-Based Occupancy Mapping","publication_year":2022,"publication_date":"2022-06-16","ids":{"openalex":"https://openalex.org/W3085003843","doi":"https://doi.org/10.1109/tro.2022.3177950","mag":"3085003843"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3177950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3177950","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5041269823","display_name":"Thai Duong","orcid":"https://orcid.org/0000-0002-8115-8330"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thai Duong","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, San Diego, La Jolla, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8115-8330","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054598974","display_name":"Michael C. Yip","orcid":"https://orcid.org/0000-0001-9689-0172"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Yip","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, San Diego, La Jolla, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9689-0172","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066400889","display_name":"Nikolay Atanasov","orcid":"https://orcid.org/0000-0003-0272-7580"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikolay Atanasov","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, San Diego, La Jolla, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0272-7580","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":6.197,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.95429311,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"38","issue":"6","first_page":"3694","last_page":"3712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980999827384949,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.7218732237815857},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6530512571334839},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5573957562446594},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.539501428604126},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.4381401836872101},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4380249083042145},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39483246207237244},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39011478424072266},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31050199270248413},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.115785151720047}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7218732237815857},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6530512571334839},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5573957562446594},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.539501428604126},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.4381401836872101},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4380249083042145},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39483246207237244},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39011478424072266},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31050199270248413},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.115785151720047},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3177950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3177950","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":[],"awards":[{"id":"https://openalex.org/G5492806418","display_name":null,"funder_award_id":"SAI N00014-18-1-2828","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":80,"referenced_works":["https://openalex.org/W1483012094","https://openalex.org/W1485487406","https://openalex.org/W1506690472","https://openalex.org/W1567512734","https://openalex.org/W1592619852","https://openalex.org/W1633751774","https://openalex.org/W1660808159","https://openalex.org/W1777783943","https://openalex.org/W1972671602","https://openalex.org/W1977189000","https://openalex.org/W1999050017","https://openalex.org/W2004139909","https://openalex.org/W2008073424","https://openalex.org/W2009422376","https://openalex.org/W2012233224","https://openalex.org/W2071906076","https://openalex.org/W2084591348","https://openalex.org/W2088538739","https://openalex.org/W2099940712","https://openalex.org/W2120154279","https://openalex.org/W2122410182","https://openalex.org/W2130422193","https://openalex.org/W2133552987","https://openalex.org/W2133844819","https://openalex.org/W2135209101","https://openalex.org/W2137512539","https://openalex.org/W2291737362","https://openalex.org/W2336416123","https://openalex.org/W2338687951","https://openalex.org/W2403683192","https://openalex.org/W2409044193","https://openalex.org/W2409953911","https://openalex.org/W2410641873","https://openalex.org/W2509984055","https://openalex.org/W2520105578","https://openalex.org/W2527142681","https://openalex.org/W2563804180","https://openalex.org/W2569527682","https://openalex.org/W2571066139","https://openalex.org/W2607968634","https://openalex.org/W2617410115","https://openalex.org/W2726894975","https://openalex.org/W2737131425","https://openalex.org/W2739423245","https://openalex.org/W2739434881","https://openalex.org/W2771211602","https://openalex.org/W2784112303","https://openalex.org/W2803073811","https://openalex.org/W2805521962","https://openalex.org/W2887751724","https://openalex.org/W2898900488","https://openalex.org/W2938672559","https://openalex.org/W2962831196","https://openalex.org/W2963482581","https://openalex.org/W2963497136","https://openalex.org/W2964079853","https://openalex.org/W2968585821","https://openalex.org/W3009220630","https://openalex.org/W3040624427","https://openalex.org/W3045752651","https://openalex.org/W3089465161","https://openalex.org/W3089565488","https://openalex.org/W3090386798","https://openalex.org/W3098467253","https://openalex.org/W3102129812","https://openalex.org/W3105051566","https://openalex.org/W3130848239","https://openalex.org/W3197947968","https://openalex.org/W4237458977","https://openalex.org/W4285719527","https://openalex.org/W4301188355","https://openalex.org/W6636690510","https://openalex.org/W6652231383","https://openalex.org/W6677898714","https://openalex.org/W6680216138","https://openalex.org/W6714639566","https://openalex.org/W6743350977","https://openalex.org/W6746047595","https://openalex.org/W6755685235","https://openalex.org/W6800380872"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W2494523064","https://openalex.org/W2943623134","https://openalex.org/W2215759665","https://openalex.org/W2960358116","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0,74],"article":[1],"focuses":[2],"on":[3,102],"online":[4,119],"occupancy":[5,52,111],"mapping":[6,148,163],"and":[7,24,60,109,132,149,161],"real-time":[8],"collision":[9,150],"checking":[10,151],"onboard":[11],"an":[12,118,133],"autonomous":[13,114,158],"robot":[14,142,159],"navigating":[15],"in":[16,32,54,155,164],"a":[17,33,47,70,77,83,98],"large":[18],"unknown":[19,165],"environment.":[20],"Commonly":[21],"used":[22],"voxel":[23],"octree":[25],"map":[26,126],"representations":[27],"can":[28],"be":[29],"easily":[30],"maintained":[31],"small":[34],"environment":[35,43,93],"but":[36],"have":[37],"increasing":[38],"memory":[39],"requirements":[40],"as":[41,65],"the":[42,56,66,92,123],"grows.":[44],"We":[45,96,116],"propose":[46],"fundamentally":[48],"different":[49],"approach":[50],"for":[51,137],"mapping,":[53],"which":[55,81],"boundary":[57,68],"between":[58],"occupied":[59],"free":[61],"space":[62],"is":[63,153],"viewed":[64],"decision":[67],"of":[69,87,146],"machine":[71],"learning":[72],"classifier.":[73],"work":[75],"generalizes":[76],"kernel":[78],"perceptron":[79],"model":[80],"maintains":[82],"very":[84],"sparse":[85,124],"set":[86],"support":[88],"vectors":[89],"to":[90],"represent":[91],"boundaries":[94],"efficiently.":[95],"develop":[97],"probabilistic":[99,110],"formulation":[100],"based":[101],"relevance":[103],"vector":[104],"machines,":[105],"handling":[106],"measurement":[107],"noise,":[108],"classification,":[112],"supporting":[113],"navigation.":[115],"provide":[117],"training":[120],"algorithm,":[121],"updating":[122],"Bayesian":[125],"incrementally":[127],"from":[128],"streaming":[129],"range":[130],"data,":[131],"efficient":[134],"collision-checking":[135],"method":[136],"general":[138],"curves,":[139],"representing":[140],"potential":[141],"trajectories.":[143],"The":[144],"effectiveness":[145],"our":[147],"algorithms":[152],"evaluated":[154],"tasks":[156],"requiring":[157],"navigation":[160],"active":[162],"environments.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}