{"id":"https://openalex.org/W2151522247","doi":"https://doi.org/10.1109/ecmr.2013.6698823","title":"A scan matching method based on the area overlap of star-shaped polygons","display_name":"A scan matching method based on the area overlap of star-shaped polygons","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W2151522247","doi":"https://doi.org/10.1109/ecmr.2013.6698823","mag":"2151522247"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2013.6698823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","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/A5046328529","display_name":"Dario Lodi Rizzini","orcid":"https://orcid.org/0000-0002-3904-0638"},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Dario Lodi Rizzini","raw_affiliation_strings":["Dipartimento di Ingegneria dell' Informazione, University of Parma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell' Informazione, University of Parma, Italy","institution_ids":["https://openalex.org/I124601658"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067471531","display_name":"Stefano Caselli","orcid":"https://orcid.org/0000-0003-0774-7871"},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Caselli","raw_affiliation_strings":["Dipartimento di Ingegneria dell' Informazione, University of Parma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell' Informazione, University of Parma, Italy","institution_ids":["https://openalex.org/I124601658"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5046328529"],"corresponding_institution_ids":["https://openalex.org/I124601658"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.10526909,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"74","last_page":"79"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9988999962806702,"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/intersection","display_name":"Intersection (aeronautics)","score":0.8279356956481934},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.6882392764091492},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6830256581306458},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6290959119796753},{"id":"https://openalex.org/keywords/star","display_name":"Star (game theory)","score":0.6198749542236328},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5781292915344238},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5329238772392273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5318239331245422},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4270133078098297},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35399746894836426},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.34672749042510986},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1431892216205597},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.12891677021980286}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.8279356956481934},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.6882392764091492},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6830256581306458},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6290959119796753},{"id":"https://openalex.org/C2780897414","wikidata":"https://www.wikidata.org/wiki/Q7600592","display_name":"Star (game theory)","level":2,"score":0.6198749542236328},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5781292915344238},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5329238772392273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5318239331245422},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4270133078098297},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35399746894836426},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.34672749042510986},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1431892216205597},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.12891677021980286},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr.2013.6698823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W207161764","https://openalex.org/W1635475619","https://openalex.org/W1891947214","https://openalex.org/W1973629563","https://openalex.org/W1981934656","https://openalex.org/W2043952582","https://openalex.org/W2049479307","https://openalex.org/W2049981393","https://openalex.org/W2092605143","https://openalex.org/W2105319067","https://openalex.org/W2115785246","https://openalex.org/W2129950897","https://openalex.org/W2130763585","https://openalex.org/W2140881794","https://openalex.org/W2145060371","https://openalex.org/W2145166484","https://openalex.org/W2146123848","https://openalex.org/W2149906774","https://openalex.org/W2157554397","https://openalex.org/W2161769160","https://openalex.org/W2210270306","https://openalex.org/W4235887261","https://openalex.org/W4242246215","https://openalex.org/W6608498412","https://openalex.org/W6637016196"],"related_works":["https://openalex.org/W170547082","https://openalex.org/W2136735429","https://openalex.org/W2587876411","https://openalex.org/W2358332176","https://openalex.org/W4229950834","https://openalex.org/W4301044568","https://openalex.org/W1587123803","https://openalex.org/W2128075414","https://openalex.org/W2952867832","https://openalex.org/W2118347688"],"abstract_inverted_index":{"We":[0],"illustrate":[1],"a":[2,20,49],"method":[3],"that":[4,23,63,104],"performs":[5],"scan":[6,47],"matching":[7],"by":[8,75],"maximizing":[9],"the":[10,14,52,65,71,93,96,102,105,113,118],"intersection":[11,17,83,108],"area":[12,18],"of":[13,45,51,92,107],"scans.":[15],"The":[16,60],"is":[19,24,67,99,109,115],"robust":[21],"parameter":[22],"less":[25],"prone":[26],"to":[27,32,41,48,79],"measurement":[28],"errors":[29],"with":[30,122],"respect":[31],"alternative":[33],"techniques.":[34],"Furthermore,":[35],"such":[36],"technique":[37],"does":[38],"not":[39],"require":[40],"associate":[42],"each":[43],"point":[44,50],"one":[46,54],"other":[53],"like":[55],"in":[56],"some":[57],"popular":[58],"algorithms.":[59],"relative":[61,97],"pose":[62,98],"maximizes":[64],"overlap":[66],"estimated":[68],"iteratively.":[69],"Since":[70],"scans":[72,119],"are":[73,120],"represented":[74],"star-shaped":[76],"polygons":[77],"due":[78],"visibility":[80],"properties,":[81],"their":[82],"can":[84],"be":[85],"computed":[86],"using":[87],"an":[88],"efficient":[89],"linear-time":[90],"traversal":[91],"vertices.":[94],"Then,":[95],"updated":[100],"under":[101],"hypothesis":[103],"combinatorics":[106],"left":[110],"unchanged":[111],"and":[112],"procedure":[114],"repeated":[116],"until":[117],"aligned":[121],"sufficient":[123],"precision.":[124]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
