{"id":"https://openalex.org/W2065794878","doi":"https://doi.org/10.1109/iccvw.2011.6130381","title":"Real-time RGB-D mapping and 3-D modeling on the GPU using the random ball cover data structure","display_name":"Real-time RGB-D mapping and 3-D modeling on the GPU using the random ball cover data structure","publication_year":2011,"publication_date":"2011-11-01","ids":{"openalex":"https://openalex.org/W2065794878","doi":"https://doi.org/10.1109/iccvw.2011.6130381","mag":"2065794878"},"language":"en","primary_location":{"id":"doi:10.1109/iccvw.2011.6130381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccvw.2011.6130381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops)","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/A5102875165","display_name":"Dominik Neumann","orcid":"https://orcid.org/0000-0003-2494-5124"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Dominik Neumann","raw_affiliation_strings":["Pattern Recognition Lab, Department of Computer Science, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, Germany"],"affiliations":[{"raw_affiliation_string":"Pattern Recognition Lab, Department of Computer Science, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071672233","display_name":"Felix Lugauer","orcid":"https://orcid.org/0000-0003-2166-7296"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Lugauer","raw_affiliation_strings":["Pattern Recognition Lab, Department of Computer Science, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, Germany"],"affiliations":[{"raw_affiliation_string":"Pattern Recognition Lab, Department of Computer Science, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032995111","display_name":"Sebastian Bauer","orcid":"https://orcid.org/0000-0003-4328-195X"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Bauer","raw_affiliation_strings":["Pattern Recognition Lab, Department of Computer Science, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, Germany"],"affiliations":[{"raw_affiliation_string":"Pattern Recognition Lab, Department of Computer Science, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054649587","display_name":"Jakob Wasza","orcid":null},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jakob Wasza","raw_affiliation_strings":["Pattern Recognition Lab, Department of Computer Science, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, Germany"],"affiliations":[{"raw_affiliation_string":"Pattern Recognition Lab, Department of Computer Science, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058662444","display_name":"Joachim Hornegger","orcid":null},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joachim Hornegger","raw_affiliation_strings":["Pattern Recognition Lab, Department of Computer Science, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, Germany"],"affiliations":[{"raw_affiliation_string":"Pattern Recognition Lab, Department of Computer Science, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg, Germany","institution_ids":["https://openalex.org/I181369854"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102875165"],"corresponding_institution_ids":["https://openalex.org/I181369854"],"apc_list":null,"apc_paid":null,"fwci":88.7849,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.99740528,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1161","last_page":"1167"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8038583993911743},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.6422446966171265},{"id":"https://openalex.org/keywords/graphics-processing-unit","display_name":"Graphics processing unit","score":0.5635062456130981},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5306189060211182},{"id":"https://openalex.org/keywords/general-purpose-computing-on-graphics-processing-units","display_name":"General-purpose computing on graphics processing units","score":0.5132839679718018},{"id":"https://openalex.org/keywords/opengl","display_name":"OpenGL","score":0.4987199306488037},{"id":"https://openalex.org/keywords/cuda","display_name":"CUDA","score":0.4923759698867798},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.40598979592323303},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.3707801401615143},{"id":"https://openalex.org/keywords/computational-science","display_name":"Computational science","score":0.35192832350730896},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3000405430793762},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.2925527095794678},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29018861055374146},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2459913194179535},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.17691713571548462}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8038583993911743},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.6422446966171265},{"id":"https://openalex.org/C2779851693","wikidata":"https://www.wikidata.org/wiki/Q183484","display_name":"Graphics processing unit","level":2,"score":0.5635062456130981},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5306189060211182},{"id":"https://openalex.org/C50630238","wikidata":"https://www.wikidata.org/wiki/Q971505","display_name":"General-purpose computing on graphics processing units","level":3,"score":0.5132839679718018},{"id":"https://openalex.org/C2778305236","wikidata":"https://www.wikidata.org/wiki/Q178570","display_name":"OpenGL","level":3,"score":0.4987199306488037},{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.4923759698867798},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.40598979592323303},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.3707801401615143},{"id":"https://openalex.org/C459310","wikidata":"https://www.wikidata.org/wiki/Q117801","display_name":"Computational science","level":1,"score":0.35192832350730896},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3000405430793762},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.2925527095794678},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29018861055374146},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2459913194179535},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.17691713571548462}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iccvw.2011.6130381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccvw.2011.6130381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.642.3145","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.642.3145","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2011/Neumann11-RRM.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W175015605","https://openalex.org/W270041273","https://openalex.org/W1187244281","https://openalex.org/W1458141304","https://openalex.org/W1535515756","https://openalex.org/W1848593906","https://openalex.org/W1915188322","https://openalex.org/W1993267444","https://openalex.org/W2013937119","https://openalex.org/W2026036943","https://openalex.org/W2043488348","https://openalex.org/W2049981393","https://openalex.org/W2083210186","https://openalex.org/W2098718871","https://openalex.org/W2099296841","https://openalex.org/W2119851068","https://openalex.org/W2124592110","https://openalex.org/W2127578024","https://openalex.org/W2136614571","https://openalex.org/W2167248794","https://openalex.org/W2225787779","https://openalex.org/W2582742513","https://openalex.org/W4247021973","https://openalex.org/W6607057351","https://openalex.org/W6609900672","https://openalex.org/W6627862999","https://openalex.org/W6638832733","https://openalex.org/W6689217119"],"related_works":["https://openalex.org/W2165647805","https://openalex.org/W2388314963","https://openalex.org/W577477915","https://openalex.org/W2029040955","https://openalex.org/W2095734710","https://openalex.org/W659242923","https://openalex.org/W2600176459","https://openalex.org/W1936382095","https://openalex.org/W2022772718","https://openalex.org/W2186748361"],"abstract_inverted_index":{"The":[0,157],"modeling":[1,166],"of":[2,12,18,25,41,65,103,114,124,185],"three-dimensional":[3],"scene":[4,165],"geometry":[5],"from":[6,171],"temporal":[7],"point":[8,57,69],"cloud":[9,58],"streams":[10],"is":[11,160],"particular":[13],"interest":[14],"for":[15,55,137,140],"a":[16,53,98,147],"variety":[17],"computer":[19],"vision":[20],"applications.":[21],"With":[22],"the":[23,66,73,104,110,122,125,172],"advent":[24],"RGB-D":[26],"imaging":[27],"devices":[28],"that":[29,149],"deliver":[30],"dense,":[31],"metric":[32],"and":[33,94,132,155],"textured":[34],"6-D":[35,141],"data":[36,130,170],"in":[37,97],"real-time,":[38],"on-the-fly":[39],"reconstruction":[40],"static":[42],"environments":[43],"has":[44],"come":[45],"into":[46],"reach.":[47],"In":[48,78,116,143],"this":[49,117],"paper,":[50],"we":[51,108,119,145],"propose":[52],"system":[54,159],"real-time":[56,85],"mapping":[59],"based":[60],"on":[61,72,162,189],"an":[62,163,190],"efficient":[63],"implementation":[64,181],"iterative":[67],"closest":[68],"(ICP)":[70],"algorithm":[71],"graphics":[74],"processing":[75],"unit":[76],"(GPU).":[77],"order":[79],"to":[80],"achieve":[81],"robust":[82],"mappings":[83],"at":[84],"performance,":[86],"our":[87,180],"nearest":[88],"neighbor":[89],"search":[90,105,133],"evaluates":[91],"both":[92,151],"geometric":[93],"photometric":[95],"information":[96],"direct":[99],"manner.":[100],"For":[101,168],"acceleration":[102],"space":[106],"traversal,":[107],"exploit":[109],"inherent":[111],"computing":[112],"parallelism":[113],"GPUs.":[115],"work,":[118],"have":[120],"investigated":[121],"fitness":[123],"random":[126],"ball":[127],"cover":[128],"(RBC)":[129],"structure":[131],"algorithm,":[134],"originally":[135],"proposed":[136,158],"high-dimensional":[138],"problems,":[139],"data.":[142],"particular,":[144],"introduce":[146],"scheme":[148],"enables":[150],"fast":[152],"RBC":[153],"construction":[154],"queries.":[156],"validated":[161],"indoor":[164],"scenario.":[167],"dense":[169],"Microsoft":[173],"Kinect":[174],"sensor":[175],"(640":[176],"\u00d7":[177],"480":[178],"px),":[179],"achieved":[182],"ICP":[183],"runtimes":[184],"<;":[186],"20":[187],"ms":[188],"off-the-shelf":[191],"consumer":[192],"GPU.":[193]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
