{"id":"https://openalex.org/W2121219539","doi":"https://doi.org/10.1109/vecims.2004.1397175","title":"An optimized computational technique for free space localization in 3-D virtual representations of complex environments","display_name":"An optimized computational technique for free space localization in 3-D virtual representations of complex environments","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2121219539","doi":"https://doi.org/10.1109/vecims.2004.1397175","mag":"2121219539"},"language":"en","primary_location":{"id":"doi:10.1109/vecims.2004.1397175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vecims.2004.1397175","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems, 2004. (VCIMS).","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/A5064822721","display_name":"Pierre Payeur","orcid":"https://orcid.org/0000-0003-3103-9752"},"institutions":[{"id":"https://openalex.org/I9374425","display_name":"Ottawa University","ror":"https://ror.org/04jscf286","country_code":"US","type":"education","lineage":["https://openalex.org/I9374425"]},{"id":"https://openalex.org/I153718931","display_name":"University of Ottawa","ror":"https://ror.org/03c4mmv16","country_code":"CA","type":"education","lineage":["https://openalex.org/I153718931"]}],"countries":["CA","US"],"is_corresponding":true,"raw_author_name":"P. Payeur","raw_affiliation_strings":["School of Information Technology and Engineering Vision, Imaging, Video and Autonomous Systems Research Laboratory, University of Ottawa, Ottawa, ONT, Canada","Sch. of Information Technol. & Eng., Ottawa Univ., Ont., Canada#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Information Technology and Engineering Vision, Imaging, Video and Autonomous Systems Research Laboratory, University of Ottawa, Ottawa, ONT, Canada","institution_ids":["https://openalex.org/I153718931"]},{"raw_affiliation_string":"Sch. of Information Technol. & Eng., Ottawa Univ., Ont., Canada#TAB#","institution_ids":["https://openalex.org/I9374425"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5064822721"],"corresponding_institution_ids":["https://openalex.org/I153718931","https://openalex.org/I9374425"],"apc_list":null,"apc_paid":null,"fwci":0.5875,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71122773,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"cmu ri tr 96 6","issue":null,"first_page":"2","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/octree","display_name":"Octree","score":0.8559280633926392},{"id":"https://openalex.org/keywords/quadtree","display_name":"Quadtree","score":0.8487913608551025},{"id":"https://openalex.org/keywords/backtracking","display_name":"Backtracking","score":0.7062219381332397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6346410512924194},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.5438770055770874},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5125014781951904},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4994692802429199},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4884833097457886},{"id":"https://openalex.org/keywords/data-structure","display_name":"Data structure","score":0.45333701372146606},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44691193103790283},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4454541504383087},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.42195674777030945},{"id":"https://openalex.org/keywords/computational-geometry","display_name":"Computational geometry","score":0.41978731751441956},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3954264223575592},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32000479102134705},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2985890209674835},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26394498348236084}],"concepts":[{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.8559280633926392},{"id":"https://openalex.org/C151416825","wikidata":"https://www.wikidata.org/wiki/Q934791","display_name":"Quadtree","level":2,"score":0.8487913608551025},{"id":"https://openalex.org/C156884757","wikidata":"https://www.wikidata.org/wiki/Q798554","display_name":"Backtracking","level":2,"score":0.7062219381332397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6346410512924194},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.5438770055770874},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5125014781951904},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4994692802429199},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4884833097457886},{"id":"https://openalex.org/C162319229","wikidata":"https://www.wikidata.org/wiki/Q175263","display_name":"Data structure","level":2,"score":0.45333701372146606},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44691193103790283},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4454541504383087},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.42195674777030945},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.41978731751441956},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3954264223575592},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32000479102134705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2985890209674835},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26394498348236084},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/vecims.2004.1397175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vecims.2004.1397175","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems, 2004. (VCIMS).","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7799999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1491528139","https://openalex.org/W1764250255","https://openalex.org/W2011070316","https://openalex.org/W2029243826","https://openalex.org/W2029320507","https://openalex.org/W2039086087","https://openalex.org/W2044690175","https://openalex.org/W2049518192","https://openalex.org/W2054775725","https://openalex.org/W2074429597","https://openalex.org/W2077092884","https://openalex.org/W2080094742","https://openalex.org/W2094078373","https://openalex.org/W2103280221","https://openalex.org/W2740373864","https://openalex.org/W2922417532","https://openalex.org/W6637824356"],"related_works":["https://openalex.org/W2993347867","https://openalex.org/W3134919197","https://openalex.org/W4256703762","https://openalex.org/W2636665479","https://openalex.org/W3009532272","https://openalex.org/W1968826477","https://openalex.org/W2949856845","https://openalex.org/W2105246008","https://openalex.org/W2169751639","https://openalex.org/W4205566295"],"abstract_inverted_index":{"Modeling":[0],"3D":[1],"objects":[2],"as":[3],"octrees":[4],"has":[5],"demonstrated":[6],"considerable":[7],"advantages":[8],"which":[9,63],"led":[10],"to":[11,34,110,130,144],"numerous":[12],"applications":[13],"in":[14,26,85,125,142],"robotics":[15],"where":[16],"free":[17],"space":[18,87],"localization":[19],"is":[20,53,56,139],"critical.":[21],"Efficient":[22],"neighbor":[23,50],"finding":[24,51],"techniques":[25],"tree":[27,69],"structures":[28],"are":[29,78,107,117],"required":[30],"for":[31,39,103],"such":[32],"models":[33],"be":[35],"used":[36],"properly,":[37],"especially":[38],"path":[40],"planning":[41],"and":[42,88],"collision":[43],"avoidance.":[44],"In":[45],"this":[46],"paper,":[47],"an":[48,126],"optimized":[49],"approach":[52],"presented":[54],"that":[55,98,116],"based":[57],"on":[58],"a":[59,82,104,121],"recursive":[60],"addressing":[61],"scheme":[62],"precludes":[64],"any":[65],"backtracking":[66],"into":[67],"the":[68,89,92,113],"structure":[70],"while":[71],"preserving":[72],"model":[73],"compactness.":[74],"Neighboring":[75,95],"cell":[76,123],"addresses":[77],"computed":[79],"directly":[80],"given":[81],"displacement":[83],"direction":[84],"3-D":[86],"address":[90,124],"of":[91,120],"starting":[93],"cell.":[94],"rule":[96],"sets":[97],"have":[99],"been":[100],"previously":[101],"derived":[102],"quadtree":[105],"representation":[106],"now":[108],"extended":[109],"octrees.":[111],"Given":[112],"algebraic":[114],"rules":[115],"defined,":[118],"computation":[119],"neighboring":[122],"octree":[127],"comes":[128],"down":[129],"basic":[131],"arithmetic":[132],"operations":[133],"with":[134],"carry.":[135],"The":[136],"algorithm":[137],"complexity":[138],"kept":[140],"low":[141],"order":[143],"provide":[145],"good":[146],"performances.":[147]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}