{"id":"https://openalex.org/W2898806907","doi":"https://doi.org/10.1109/ccta.2018.8511318","title":"Improving Occupancy Grid Mapping via Dithering for a Mobile Robot Equipped with Solid-State LiDAR Sensors","display_name":"Improving Occupancy Grid Mapping via Dithering for a Mobile Robot Equipped with Solid-State LiDAR Sensors","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2898806907","doi":"https://doi.org/10.1109/ccta.2018.8511318","mag":"2898806907"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2018.8511318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2018.8511318","pdf_url":null,"source":{"id":"https://openalex.org/S4306498315","display_name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11311/1062222","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057923752","display_name":"Stefano Sabatini","orcid":"https://orcid.org/0000-0003-0971-3536"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Stefano Sabatini","raw_affiliation_strings":["Dipartimento Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016568768","display_name":"Matteo Carno","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Carno","raw_affiliation_strings":["Dipartimento Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041120306","display_name":"Simone Fiorenti","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Simone Fiorenti","raw_affiliation_strings":["Yape srl, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Yape srl, Milano, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047303451","display_name":"Sergio M. Savaresi","orcid":"https://orcid.org/0000-0001-5829-2323"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sergio Matteo Savaresi","raw_affiliation_strings":["Dipartimento Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057923752"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":3.0344,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.91735294,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"25","issue":null,"first_page":"1145","last_page":"1150"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.9429864883422852},{"id":"https://openalex.org/keywords/dither","display_name":"Dither","score":0.8062383532524109},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6744495034217834},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6691925525665283},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5669475793838501},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5623727440834045},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5453507304191589},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5135548114776611},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5058503150939941},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.4543738067150116},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.44821232557296753},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4126265347003937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4027547538280487},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.27989059686660767},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21375519037246704},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10018482804298401}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.9429864883422852},{"id":"https://openalex.org/C70451592","wikidata":"https://www.wikidata.org/wiki/Q376493","display_name":"Dither","level":3,"score":0.8062383532524109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6744495034217834},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6691925525665283},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5669475793838501},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5623727440834045},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5453507304191589},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5135548114776611},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5058503150939941},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.4543738067150116},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.44821232557296753},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4126265347003937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4027547538280487},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.27989059686660767},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21375519037246704},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10018482804298401},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"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/C9083635","wikidata":"https://www.wikidata.org/wiki/Q2133535","display_name":"Noise shaping","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ccta.2018.8511318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2018.8511318","pdf_url":null,"source":{"id":"https://openalex.org/S4306498315","display_name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1062222","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1062222","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:re.public.polimi.it:11311/1062222","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1062222","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.41999998688697815,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1521785144","https://openalex.org/W1528979467","https://openalex.org/W1684737195","https://openalex.org/W1805367571","https://openalex.org/W1991752086","https://openalex.org/W1999050017","https://openalex.org/W2105632441","https://openalex.org/W2110096732","https://openalex.org/W2143207176","https://openalex.org/W2169680472","https://openalex.org/W2336416123","https://openalex.org/W2511724775","https://openalex.org/W2590408257"],"related_works":["https://openalex.org/W2162255319","https://openalex.org/W3033776171","https://openalex.org/W5037887","https://openalex.org/W1999050017","https://openalex.org/W4293877624","https://openalex.org/W4229444815","https://openalex.org/W2908094156","https://openalex.org/W2030136595","https://openalex.org/W3172527413","https://openalex.org/W2142360609"],"abstract_inverted_index":{"Occupancy":[0],"grid":[1,29],"maps":[2],"are":[3],"by":[4,31],"far":[5],"the":[6,12,27,37,82,86,95,105,112],"most":[7],"used":[8,77],"spatial":[9],"representation":[10],"of":[11,71,85,107],"environment":[13],"for":[14,51,81],"robot":[15,38],"navigation.":[16],"This":[17],"paper":[18],"proposes":[19],"a":[20,33,41],"simple":[21],"and":[22,75],"effective":[23,100],"way":[24],"to":[25,36],"improve":[26],"occupancy":[28],"accuracy":[30],"superimposing":[32],"small":[34],"oscillation":[35],"motion":[39,98],"when":[40],"predefined":[42],"path":[43],"is":[44,48,68,76,99],"given.":[45],"The":[46,62],"method":[47],"especially":[49,101],"suited":[50],"range":[52,56],"sensors":[53],"with":[54],"long":[55],"capabilities":[57],"but":[58],"poor":[59],"angular":[60],"resolution.":[61],"innovative":[63],"solid":[64],"state":[65],"LiDAR":[66],"technology":[67],"an":[69],"example":[70],"such":[72],"sensor":[73],"configuration":[74],"in":[78,102,111],"this":[79],"work":[80],"experimental":[83],"evaluation":[84],"presented":[87],"dithering":[88],"technique.":[89],"Experimental":[90],"results":[91],"quantitatively":[92],"demonstrated":[93],"that":[94],"proposed":[96],"oscillating":[97],"speeding":[103],"up":[104],"detection":[106],"corridor":[108],"like":[109],"clearances":[110],"environment.":[113]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
