{"id":"https://openalex.org/W4408226163","doi":"https://doi.org/10.1142/s1793351x25410053","title":"Efficient Global 6D Localization in 3D TSDF Maps Using Point-wise and Scan-wise Reduction Methods on Embedded GPUs","display_name":"Efficient Global 6D Localization in 3D TSDF Maps Using Point-wise and Scan-wise Reduction Methods on Embedded GPUs","publication_year":2025,"publication_date":"2025-03-01","ids":{"openalex":"https://openalex.org/W4408226163","doi":"https://doi.org/10.1142/s1793351x25410053"},"language":"en","primary_location":{"id":"doi:10.1142/s1793351x25410053","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s1793351x25410053","pdf_url":null,"source":{"id":"https://openalex.org/S4210201727","display_name":"International Journal of Semantic Computing","issn_l":"1793-351X","issn":["1793-351X","1793-7108"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Semantic Computing","raw_type":"journal-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/A5039693784","display_name":"Marc Eisoldt","orcid":null},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]},{"id":"https://openalex.org/I4210159638","display_name":"Hochschule Osnabr\u00fcck","ror":"https://ror.org/059vymd37","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210159638"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Marc Eisoldt","raw_affiliation_strings":["Computer Engineering Group, Institute of Computer Science, Osnabr\u00fcck University, Osnabr\u00fcck, Germany"],"affiliations":[{"raw_affiliation_string":"Computer Engineering Group, Institute of Computer Science, Osnabr\u00fcck University, Osnabr\u00fcck, Germany","institution_ids":["https://openalex.org/I170658231","https://openalex.org/I4210159638"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032070495","display_name":"Alexander Mock","orcid":null},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Mock","raw_affiliation_strings":["Knowledge Based Systems Group, Institute of Computer Science, Osnabr\u00fcck University, Osnabr\u00fcck, Germany"],"affiliations":[{"raw_affiliation_string":"Knowledge Based Systems Group, Institute of Computer Science, Osnabr\u00fcck University, Osnabr\u00fcck, Germany","institution_ids":["https://openalex.org/I170658231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054173444","display_name":"Thomas Wiemann","orcid":"https://orcid.org/0000-0003-0710-872X"},"institutions":[{"id":"https://openalex.org/I201850948","display_name":"Fulda University of Applied Sciences","ror":"https://ror.org/041bz9r75","country_code":"DE","type":"education","lineage":["https://openalex.org/I201850948"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Wiemann","raw_affiliation_strings":["Department of Applied Computer Science, Robotics in Computer Science, Fulda University of Applied Sciences, Fulda, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Applied Computer Science, Robotics in Computer Science, Fulda University of Applied Sciences, Fulda, Germany","institution_ids":["https://openalex.org/I201850948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028498307","display_name":"Mario Porrmann","orcid":"https://orcid.org/0000-0003-1005-5753"},"institutions":[{"id":"https://openalex.org/I170658231","display_name":"Osnabr\u00fcck University","ror":"https://ror.org/04qmmjx98","country_code":"DE","type":"education","lineage":["https://openalex.org/I170658231"]},{"id":"https://openalex.org/I4210159638","display_name":"Hochschule Osnabr\u00fcck","ror":"https://ror.org/059vymd37","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210159638"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mario Porrmann","raw_affiliation_strings":["Computer Engineering Group, Institute of Computer Science, Osnabr\u00fcck University, Osnabr\u00fcck, Germany"],"affiliations":[{"raw_affiliation_string":"Computer Engineering Group, Institute of Computer Science, Osnabr\u00fcck University, Osnabr\u00fcck, Germany","institution_ids":["https://openalex.org/I170658231","https://openalex.org/I4210159638"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5039693784"],"corresponding_institution_ids":["https://openalex.org/I170658231","https://openalex.org/I4210159638"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02974793,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":"01","first_page":"105","last_page":"125"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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":0.9951000213623047,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9847999811172485,"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/computer-science","display_name":"Computer science","score":0.8357399106025696},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.7229862213134766},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5791981816291809},{"id":"https://openalex.org/keywords/computational-science","display_name":"Computational science","score":0.43810543417930603},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.42469531297683716},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.41577979922294617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3826545476913452},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36681699752807617},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3590579628944397},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11049830913543701},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0966915488243103}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8357399106025696},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.7229862213134766},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5791981816291809},{"id":"https://openalex.org/C459310","wikidata":"https://www.wikidata.org/wiki/Q117801","display_name":"Computational science","level":1,"score":0.43810543417930603},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.42469531297683716},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.41577979922294617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3826545476913452},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36681699752807617},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3590579628944397},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11049830913543701},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0966915488243103}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s1793351x25410053","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s1793351x25410053","pdf_url":null,"source":{"id":"https://openalex.org/S4210201727","display_name":"International Journal of Semantic Computing","issn_l":"1793-351X","issn":["1793-351X","1793-7108"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Semantic Computing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1989976536","https://openalex.org/W2001239830","https://openalex.org/W2018542777","https://openalex.org/W2036332677","https://openalex.org/W2070925552","https://openalex.org/W2071267129","https://openalex.org/W2080486840","https://openalex.org/W2126574351","https://openalex.org/W2130422193","https://openalex.org/W2132631693","https://openalex.org/W2167222293","https://openalex.org/W2758210595","https://openalex.org/W2963081068","https://openalex.org/W3083287416","https://openalex.org/W3119558773","https://openalex.org/W3200664388","https://openalex.org/W3208004680","https://openalex.org/W4286249767","https://openalex.org/W4311463255","https://openalex.org/W4365793886","https://openalex.org/W4393146230"],"related_works":["https://openalex.org/W2532234348","https://openalex.org/W108084911","https://openalex.org/W2393440248","https://openalex.org/W4392353267","https://openalex.org/W2673314300","https://openalex.org/W2115140794","https://openalex.org/W1569386110","https://openalex.org/W2982169251","https://openalex.org/W2103406007","https://openalex.org/W2252127188"],"abstract_inverted_index":{"Monte":[0],"Carlo":[1],"Localization":[2],"is":[3,65,131],"a":[4,108,122],"widely":[5],"used":[6],"approach":[7],"in":[8,21,27,51,58,92],"the":[9,22,52,66,69,84,88,119,129,146],"field":[10],"of":[11,33,68,87,90],"mobile":[12,44],"robotics.":[13],"While":[14],"this":[15,80],"problem":[16],"has":[17,35,47],"been":[18,38,49],"well":[19],"studied":[20],"2D":[23],"case,":[24],"global":[25],"localization":[26],"3D":[28],"maps":[29],"with":[30],"six":[31],"degrees":[32],"freedom":[34],"so":[36],"far":[37],"too":[39],"computationally":[40,61],"demanding.":[41],"Hence,":[42],"no":[43],"robot":[45],"system":[46],"yet":[48],"presented":[50],"literature":[53],"that":[54,128],"can":[55],"solve":[56],"it":[57,73],"real-time.":[59],"The":[60,125],"most":[62],"intensive":[63],"step":[64],"evaluation":[67,89],"sensor":[70],"model,":[71],"but":[72],"also":[74],"offers":[75],"high":[76],"parallelization":[77,86,115],"potential.":[78],"In":[79,104],"paper,":[81],"we":[82,111],"investigate":[83],"massive":[85],"particles":[91],"truncated":[93],"signed":[94],"distance":[95],"fields":[96],"for":[97],"three-dimensional":[98],"laser":[99],"scanners":[100],"on":[101],"embedded":[102],"GPUs.":[103],"addition":[105],"to":[106,121,133],"providing":[107],"reference":[109],"implementation,":[110],"compare":[112,118],"two":[113],"different":[114],"schemes":[116],"and":[117,137],"results":[120,126],"CPU":[123,147],"baseline.":[124],"show":[127],"GPU":[130],"up":[132],"30":[134],"times":[135,141],"faster":[136],"more":[138],"than":[139],"50":[140],"as":[142,145],"energy":[143],"efficient":[144],"implementation.":[148]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}