{"id":"https://openalex.org/W2065096474","doi":"https://doi.org/10.1109/icra.2013.6631081","title":"Real-time collision detection and distance computation on point cloud sensor data","display_name":"Real-time collision detection and distance computation on point cloud sensor data","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2065096474","doi":"https://doi.org/10.1109/icra.2013.6631081","mag":"2065096474"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631081","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5076812698","display_name":"Jia Pan","orcid":"https://orcid.org/0000-0001-9003-2054"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jia Pan","raw_affiliation_strings":["Department of Computer Science, University of North Carolina, Chapel Hill, Chapel Hill, NC, USA","Dept. of Comput. Sci., UNC Chapel Hill, Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina, Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Dept. of Comput. Sci., UNC Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078911730","display_name":"Ioan A. \u015eucan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ioan A. Sucan","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA","[Willow Garage Inc. Menlo Park, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]},{"raw_affiliation_string":"[Willow Garage Inc. Menlo Park, CA, USA]","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057299610","display_name":"Sachin Chitta","orcid":"https://orcid.org/0000-0003-4859-6096"},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sachin Chitta","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA","[Willow Garage Inc. Menlo Park, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]},{"raw_affiliation_string":"[Willow Garage Inc. Menlo Park, CA, USA]","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["Department of Computer Science, University of North Carolina, Chapel Hill, Chapel Hill, NC, USA","Dept. of Comput. Sci., UNC Chapel Hill, Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina, Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Dept. of Comput. Sci., UNC Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076812698"],"corresponding_institution_ids":["https://openalex.org/I114027177"],"apc_list":null,"apc_paid":null,"fwci":4.3546,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.95162996,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3593","last_page":"3599"},"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":0.9988999962806702,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9922999739646912,"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/point-cloud","display_name":"Point cloud","score":0.8261941075325012},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.775452733039856},{"id":"https://openalex.org/keywords/octree","display_name":"Octree","score":0.7352207899093628},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6337496638298035},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.606074333190918},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5916481018066406},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4787651598453522},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.47625088691711426},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4591253995895386},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4438360631465912},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4158775508403778},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.4128563106060028},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4125916361808777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36227643489837646},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12044063210487366}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8261941075325012},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.775452733039856},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.7352207899093628},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6337496638298035},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.606074333190918},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5916481018066406},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4787651598453522},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.47625088691711426},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4591253995895386},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4438360631465912},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4158775508403778},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.4128563106060028},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4125916361808777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36227643489837646},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12044063210487366},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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":2,"locations":[{"id":"doi:10.1109/icra.2013.6631081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631081","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:hub.hku.hk:10722/206223","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/206223","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference_Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1497695555","https://openalex.org/W1999250663","https://openalex.org/W2004139909","https://openalex.org/W2020203542","https://openalex.org/W2020475220","https://openalex.org/W2072162217","https://openalex.org/W2087551257","https://openalex.org/W2102587756","https://openalex.org/W2123980410","https://openalex.org/W2125298120","https://openalex.org/W2125880285","https://openalex.org/W2128715914","https://openalex.org/W2515936176","https://openalex.org/W6725769274"],"related_works":["https://openalex.org/W2347991277","https://openalex.org/W4200108838","https://openalex.org/W2392034603","https://openalex.org/W2162959618","https://openalex.org/W2165809659","https://openalex.org/W2024395216","https://openalex.org/W3138645172","https://openalex.org/W2352029666","https://openalex.org/W2148917807","https://openalex.org/W3215492696"],"abstract_inverted_index":{"Most":[0],"prior":[1],"techniques":[2,78],"for":[3,8,101,180,183],"proximity":[4,119],"computations":[5],"are":[6,31],"designed":[7],"synthetic":[9,38,170],"models":[10],"and":[11,27,34,56,104,134,172],"assume":[12],"exact":[13],"geometric":[14],"representations.":[15],"However,":[16],"real":[17],"robots":[18],"construct":[19],"representations":[20,30],"of":[21,65,83,112,131,154,164],"the":[22,28,81,113,132,135,138,162,165],"environment":[23],"using":[24,177],"their":[25],"sensors,":[26],"generated":[29],"more":[32],"cluttered":[33],"less":[35],"precise":[36],"than":[37,157],"models.":[39],"Furthermore,":[40],"this":[41,50],"sensor":[42,68,174],"data":[43,69,85,116,120,171,175],"is":[44],"updated":[45],"at":[46,71],"high":[47,142],"frequency.":[48],"In":[49,145],"paper,":[51],"we":[52,88,106],"present":[53,75,89],"new":[54,148,166],"collision-":[55],"distance-query":[57],"algorithms,":[58],"which":[59],"can":[60,150],"efficiently":[61],"handle":[62],"large":[63],"amounts":[64],"point":[66,114],"cloud":[67,115],"received":[70],"real-time":[72],"rates.":[73],"We":[74,122,160],"two":[76],"novel":[77],"to":[79,127,141],"accelerate":[80],"computation":[82],"broad-phase":[84],"structures:":[86],"1)":[87],"a":[90,96,118,124,178,184],"progressive":[91],"technique":[92],"that":[93],"incrementally":[94],"computes":[95,137],"high-quality":[97],"dynamic":[98],"AABB":[99],"tree":[100],"fast":[102],"culling,":[103],"2)":[105],"directly":[107],"use":[108],"an":[109,152],"octree":[110],"representation":[111],"as":[117],"structure.":[121],"assign":[123],"probability":[125],"value":[126],"each":[128],"leaf":[129],"node":[130],"tree,":[133],"algorithm":[136],"nodes":[139],"corresponding":[140],"collision":[143],"probability.":[144],"practice,":[146],"our":[147],"approaches":[149],"be":[151],"order":[153],"magnitude":[155],"faster":[156],"previous":[158],"methods.":[159],"demonstrate":[161],"performance":[163],"methods":[167],"on":[168,173],"both":[169],"collected":[176],"Kinect\u2122":[179],"motion":[181],"planning":[182],"mobile":[185],"manipulator":[186],"robot.":[187]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}