{"id":"https://openalex.org/W1977141501","doi":"https://doi.org/10.1109/upinlbs.2012.6409748","title":"Fusion of geometrical and visual information for localization and mapping in outdoor environments","display_name":"Fusion of geometrical and visual information for localization and mapping in outdoor environments","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1977141501","doi":"https://doi.org/10.1109/upinlbs.2012.6409748","mag":"1977141501"},"language":"en","primary_location":{"id":"doi:10.1109/upinlbs.2012.6409748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs.2012.6409748","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 Ubiquitous Positioning, Indoor Navigation, and Location Based Service (UPINLBS)","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/A5048735168","display_name":"Thomas Emter","orcid":"https://orcid.org/0000-0002-0915-9654"},"institutions":[{"id":"https://openalex.org/I4923324","display_name":"Fraunhofer Society","ror":"https://ror.org/05hkkdn48","country_code":"DE","type":"funder","lineage":["https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Thomas Emter","raw_affiliation_strings":["Fraunhofer Institute for Optronics, Systems for Measurement, Control and Diagnosis (MRD)","Fraunhofer Institute for Optronics, System Technologies and Image Exploitation (IOSB), Systems for Measurement, Control and Diagnosis (MRD)"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Optronics, Systems for Measurement, Control and Diagnosis (MRD)","institution_ids":[]},{"raw_affiliation_string":"Fraunhofer Institute for Optronics, System Technologies and Image Exploitation (IOSB), Systems for Measurement, Control and Diagnosis (MRD)","institution_ids":["https://openalex.org/I4923324"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051903451","display_name":"Thomas Ulrich","orcid":"https://orcid.org/0000-0002-4164-8933"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Ulrich","raw_affiliation_strings":["Geodetic Institute (GIK), Karlsruhe Institute of Technology (KIT), Germany"],"affiliations":[{"raw_affiliation_string":"Geodetic Institute (GIK), Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048735168"],"corresponding_institution_ids":["https://openalex.org/I4923324"],"apc_list":null,"apc_paid":null,"fwci":1.5902,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84485836,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"27","issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9973999857902527,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/computer-science","display_name":"Computer science","score":0.7091532945632935},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7058509588241577},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6945222616195679},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6783433556556702},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6560469269752502},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.650324821472168},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6018433570861816},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.586749255657196},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5612406134605408},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5188401937484741},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4664653539657593},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.4445120096206665},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4254942536354065},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.41984400153160095},{"id":"https://openalex.org/keywords/spatial-analysis","display_name":"Spatial analysis","score":0.41285213828086853},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.376785010099411},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.23483511805534363},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19914960861206055}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7091532945632935},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7058509588241577},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6945222616195679},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6783433556556702},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6560469269752502},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.650324821472168},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6018433570861816},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.586749255657196},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5612406134605408},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5188401937484741},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4664653539657593},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.4445120096206665},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4254942536354065},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.41984400153160095},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.41285213828086853},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.376785010099411},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.23483511805534363},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19914960861206055},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/upinlbs.2012.6409748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs.2012.6409748","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 Ubiquitous Positioning, Indoor Navigation, and Location Based Service (UPINLBS)","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/379067","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/379067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1513768190","https://openalex.org/W2103393159","https://openalex.org/W2127578024","https://openalex.org/W2130422193","https://openalex.org/W2138294682","https://openalex.org/W2140681067","https://openalex.org/W2146881125","https://openalex.org/W2159128898","https://openalex.org/W2336416123","https://openalex.org/W2979807846","https://openalex.org/W6630587866","https://openalex.org/W6675456536","https://openalex.org/W6769515266","https://openalex.org/W6888855633"],"related_works":["https://openalex.org/W3130035014","https://openalex.org/W1992005931","https://openalex.org/W3097864550","https://openalex.org/W4210470126","https://openalex.org/W3010770189","https://openalex.org/W2890234822","https://openalex.org/W2101410970","https://openalex.org/W2117612006","https://openalex.org/W2422809659","https://openalex.org/W4200216229"],"abstract_inverted_index":{"Laser":[0],"scanners":[1],"are":[2,32],"widely":[3],"used":[4,18],"with":[5],"mobile":[6],"robots":[7],"for":[8],"simultaneous":[9],"localization":[10],"and":[11,88],"mapping.":[12],"The":[13,73],"laser":[14,35],"data":[15,81],"can":[16],"be":[17],"to":[19,52,63],"build":[20],"a":[21,25,68],"dense":[22],"map":[23,91],"or":[24,49],"feature":[26,89],"based":[27,90],"map,":[28],"where":[29],"the":[30,40,56],"features":[31,54],"extracted":[33],"from":[34,55],"scanner":[36],"(LIDAR)":[37],"data.":[38],"On":[39],"other":[41],"hand,":[42],"diverse":[43],"approaches":[44],"exist,":[45],"which":[46],"use":[47],"one":[48],"several":[50],"cameras":[51],"extract":[53],"environment.":[57],"In":[58],"this":[59],"paper,":[60],"an":[61],"approach":[62],"combine":[64],"these":[65],"sensors":[66],"in":[67],"unified":[69],"framework":[70],"is":[71,75],"proposed.":[72],"combination":[74],"achieved":[76],"by":[77],"fusion":[78],"of":[79,86],"sensor":[80],"as":[82,84],"well":[83],"incorporation":[85],"grid":[87],"representations.":[92]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}