{"id":"https://openalex.org/W3087836897","doi":"https://doi.org/10.1155/2020/6973790","title":"A 3D Reconstruction Method Using Multisensor Fusion in Large-Scale Indoor Scenes","display_name":"A 3D Reconstruction Method Using Multisensor Fusion in Large-Scale Indoor Scenes","publication_year":2020,"publication_date":"2020-09-24","ids":{"openalex":"https://openalex.org/W3087836897","doi":"https://doi.org/10.1155/2020/6973790","mag":"3087836897"},"language":"en","primary_location":{"id":"doi:10.1155/2020/6973790","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2020/6973790","pdf_url":"https://downloads.hindawi.com/journals/complexity/2020/6973790.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/complexity/2020/6973790.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036283002","display_name":"Panlong Gu","orcid":"https://orcid.org/0000-0002-3831-3753"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Panlong Gu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan250061, Shandong, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan250061, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085317250","display_name":"Fengyu Zhou","orcid":"https://orcid.org/0000-0001-5140-7036"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fengyu Zhou","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan250061, Shandong, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan250061, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110711848","display_name":"Dianguo Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dianguo Yu","raw_affiliation_strings":["Institute of Technology, Qu Fu Normal University, Jining 276825, Shandong, China"],"affiliations":[{"raw_affiliation_string":"Institute of Technology, Qu Fu Normal University, Jining 276825, Shandong, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102863597","display_name":"Fang Wan","orcid":"https://orcid.org/0000-0003-1198-3551"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Wan","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan250061, Shandong, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan250061, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392021","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-5950-6001"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Faculty of Computer Science and Technology, Qi Lu University of Technology, Jining 276825, Shandong, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science and Technology, Qi Lu University of Technology, Jining 276825, Shandong, China","institution_ids":["https://openalex.org/I152269853"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018242998","display_name":"Bangguo Yu","orcid":"https://orcid.org/0000-0001-9423-8885"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bangguo Yu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan250061, Shandong, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan250061, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5085317250"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":{"value":2300,"currency":"USD","value_usd":2300},"apc_paid":{"value":2300,"currency":"USD","value_usd":2300},"fwci":8.1401,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.97214488,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2020","issue":null,"first_page":"1","last_page":"14"},"is_retracted":true,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.998199999332428,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9954000115394592,"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-vision","display_name":"Computer vision","score":0.7961266040802002},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7833123207092285},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7113748788833618},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6632649898529053},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5787006616592407},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5739051103591919},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4342171549797058},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.43098607659339905},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.41335806250572205},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1843075454235077},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09621086716651917}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7961266040802002},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7833123207092285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7113748788833618},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6632649898529053},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5787006616592407},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5739051103591919},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4342171549797058},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.43098607659339905},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.41335806250572205},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1843075454235077},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09621086716651917},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2020/6973790","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2020/6973790","pdf_url":"https://downloads.hindawi.com/journals/complexity/2020/6973790.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:35e8b294f5484febb45de4adfec25c63","is_oa":true,"landing_page_url":"https://doaj.org/article/35e8b294f5484febb45de4adfec25c63","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complexity, Vol 2020 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2020/6973790","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2020/6973790","pdf_url":"https://downloads.hindawi.com/journals/complexity/2020/6973790.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1698707434","display_name":null,"funder_award_id":"61803227","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2379428415","display_name":null,"funder_award_id":"SD2019NJ014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3259016922","display_name":null,"funder_award_id":"B13024","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G337644069","display_name":null,"funder_award_id":"2017YFB1302400","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4020255992","display_name":null,"funder_award_id":"Project","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5180670427","display_name":null,"funder_award_id":"61773242","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5249334224","display_name":null,"funder_award_id":"61803","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5733390078","display_name":null,"funder_award_id":"Grant nos.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5760752404","display_name":null,"funder_award_id":"Projects","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8955107213","display_name":null,"funder_award_id":"Major","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3087836897.pdf","grobid_xml":"https://content.openalex.org/works/W3087836897.grobid-xml"},"referenced_works_count":8,"referenced_works":["https://openalex.org/W2041094000","https://openalex.org/W2069479606","https://openalex.org/W2076917298","https://openalex.org/W2895745202","https://openalex.org/W2901152875","https://openalex.org/W2927562344","https://openalex.org/W2950359794","https://openalex.org/W3150020632"],"related_works":["https://openalex.org/W2921707373","https://openalex.org/W2980357211","https://openalex.org/W125675508","https://openalex.org/W2980953096","https://openalex.org/W3109244347","https://openalex.org/W2972393937","https://openalex.org/W3158534694","https://openalex.org/W3183290586","https://openalex.org/W2979718872","https://openalex.org/W2991938346"],"abstract_inverted_index":{"RGBD":[0,81,115,129,146],"camera-based":[1],"VSLAM":[2],"(Visual":[3],"Simultaneous":[4],"Localization":[5],"and":[6,26,40,56,79,114,131,153,200,210],"Mapping)":[7],"algorithm":[8,33,113,122,191],"is":[9,85,104,148,158,163],"usually":[10],"applied":[11],"to":[12,20,105,123,132,164],"assist":[13],"robots":[14],"with":[15,43,182,207],"real-time":[16,138,155],"mapping.":[17],"However,":[18],"due":[19],"the":[21,29,38,89,107,111,120,125,128,145,151,154,170,174,178,189],"limited":[22],"measuring":[23],"principle,":[24],"accuracy,":[25,50],"distance":[27],"of":[28,53,71,127,176],"equipped":[30],"camera,":[31],"this":[32,65,193],"has":[34],"typical":[35],"disadvantages":[36],"in":[37,185,192,203],"large":[39],"dynamic":[41,211],"scenes":[42],"complex":[44,208],"lightings,":[45],"such":[46,204],"as":[47],"poor":[48],"mapping":[49],"easy":[51],"loss":[52],"robot":[54],"position,":[55],"much":[57],"cost":[58],"on":[59,88],"computing":[60],"resources.":[61],"Regarding":[62],"these":[63],"issues,":[64],"paper":[66,194],"proposes":[67],"a":[68,134,137],"new":[69],"method":[70,96],"3D":[72,108,139],"interior":[73,156],"construction,":[74],"which":[75],"combines":[76],"laser":[77,91],"radar":[78],"an":[80],"camera.":[82,116],"Meanwhile,":[83],"it":[84],"developed":[86],"based":[87],"Cartographer":[90,112,121,166],"SLAM":[92],"algorithm.":[93],"The":[94,101,160],"proposed":[95,190],"mainly":[97],"takes":[98],"two":[99],"steps.":[100],"first":[102],"step":[103,162],"do":[106],"reconstruction":[109],"using":[110,144],"It":[117],"firstly":[118],"applies":[119],"calculate":[124],"pose":[126],"camera":[130,147],"generate":[133],"submap.":[135],"Then,":[136],"point":[140],"cloud":[141],"generated":[142,179],"by":[143,169],"inserted":[149],"into":[150],"submap,":[152],"construction":[157],"finished.":[159],"second":[161],"improve":[165],"loop-closure":[167,172],"quality":[168],"visual":[171],"for":[173],"sake":[175],"correcting":[177],"map.":[180],"Compared":[181],"traditional":[183],"methods":[184],"large-scale":[186],"indoor":[187],"scenes,":[188],"shows":[195],"higher":[196],"precision,":[197],"faster":[198],"speed,":[199],"stronger":[201],"robustness":[202],"contexts,":[205],"especially":[206],"light":[209],"objects,":[212],"respectively.":[213]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2020-10-01T00:00:00"}