{"id":"https://openalex.org/W1966324474","doi":"https://doi.org/10.1177/0278364907079265","title":"Data Structures for Efficient Dynamic Processing in 3-D","display_name":"Data Structures for Efficient Dynamic Processing in 3-D","publication_year":2007,"publication_date":"2007-07-20","ids":{"openalex":"https://openalex.org/W1966324474","doi":"https://doi.org/10.1177/0278364907079265","mag":"1966324474"},"language":"en","primary_location":{"id":"doi:10.1177/0278364907079265","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907079265","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Data_Structures_for_Efficient_Dynamic_Processing_in_3-D/6552485","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034761030","display_name":"Jean\u2010Fran\u00e7ois Lalonde","orcid":"https://orcid.org/0000-0002-6583-2364"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jean-Fran\u00e7ois Lalonde","raw_affiliation_strings":["Carnegie Mellon University The Robotics Institute - Newell Simon Hall 5000 Forbes Avenue Pittsburgh, 15213, PA, USA, {jlalonde, vandapel, hebert}@ri.cmu.edu"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University The Robotics Institute - Newell Simon Hall 5000 Forbes Avenue Pittsburgh, 15213, PA, USA, {jlalonde, vandapel, hebert}@ri.cmu.edu","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018701857","display_name":"Nicolas Vandapel","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicolas Vandapel","raw_affiliation_strings":["Carnegie Mellon University The Robotics Institute - Newell Simon Hall 5000 Forbes Avenue Pittsburgh, 15213, PA, USA, {jlalonde, vandapel, hebert}@ri.cmu.edu"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University The Robotics Institute - Newell Simon Hall 5000 Forbes Avenue Pittsburgh, 15213, PA, USA, {jlalonde, vandapel, hebert}@ri.cmu.edu","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075246991","display_name":"Martial Hebert","orcid":"https://orcid.org/0000-0003-4566-5930"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martial Hebert","raw_affiliation_strings":["Carnegie Mellon University The Robotics Institute - Newell Simon Hall 5000 Forbes Avenue Pittsburgh, 15213, PA, USA, {jlalonde, vandapel, hebert}@ri.cmu.edu"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University The Robotics Institute - Newell Simon Hall 5000 Forbes Avenue Pittsburgh, 15213, PA, USA, {jlalonde, vandapel, hebert}@ri.cmu.edu","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5034761030"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.737,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.83380576,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"26","issue":"8","first_page":"777","last_page":"796"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7096990346908569},{"id":"https://openalex.org/keywords/data-processing","display_name":"Data processing","score":0.6308695077896118},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.529430627822876},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5046085119247437},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5008912086486816},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.4880625009536743},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4777925908565521},{"id":"https://openalex.org/keywords/data-structure","display_name":"Data structure","score":0.4475994110107422},{"id":"https://openalex.org/keywords/dynamic-data","display_name":"Dynamic data","score":0.44364774227142334},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4303727149963379},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.4210923910140991},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4165261387825012},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29791778326034546},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14861321449279785},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09608185291290283}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7096990346908569},{"id":"https://openalex.org/C138827492","wikidata":"https://www.wikidata.org/wiki/Q6661985","display_name":"Data processing","level":2,"score":0.6308695077896118},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.529430627822876},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5046085119247437},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5008912086486816},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.4880625009536743},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4777925908565521},{"id":"https://openalex.org/C162319229","wikidata":"https://www.wikidata.org/wiki/Q175263","display_name":"Data structure","level":2,"score":0.4475994110107422},{"id":"https://openalex.org/C197298091","wikidata":"https://www.wikidata.org/wiki/Q5318963","display_name":"Dynamic data","level":2,"score":0.44364774227142334},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4303727149963379},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4210923910140991},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4165261387825012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29791778326034546},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14861321449279785},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09608185291290283},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1177/0278364907079265","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907079265","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:repository.cmu.edu:robotics-1350","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1350&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6552485","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:figshare.com:article/6552485","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Data_Structures_for_Efficient_Dynamic_Processing_in_3-D/6552485","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"doi:10.1184/r1/6552485.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6552485.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6552485","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Data_Structures_for_Efficient_Dynamic_Processing_in_3-D/6552485","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W159186442","https://openalex.org/W1490760466","https://openalex.org/W1495540189","https://openalex.org/W1525716224","https://openalex.org/W1529450504","https://openalex.org/W1576520375","https://openalex.org/W1763728792","https://openalex.org/W1782560845","https://openalex.org/W1851933029","https://openalex.org/W1966537360","https://openalex.org/W1984861755","https://openalex.org/W1987454684","https://openalex.org/W2002629580","https://openalex.org/W2035769032","https://openalex.org/W2043111349","https://openalex.org/W2056268007","https://openalex.org/W2074429597","https://openalex.org/W2089652819","https://openalex.org/W2123222503","https://openalex.org/W2124767316","https://openalex.org/W2139212933","https://openalex.org/W2147385358","https://openalex.org/W2156067790","https://openalex.org/W2167683317","https://openalex.org/W2170605888","https://openalex.org/W2220451813","https://openalex.org/W2429914308","https://openalex.org/W2799061466","https://openalex.org/W2887302677","https://openalex.org/W3193477162","https://openalex.org/W4205687621","https://openalex.org/W4232311587","https://openalex.org/W4237754737","https://openalex.org/W4238717354","https://openalex.org/W4299736415","https://openalex.org/W4365800129","https://openalex.org/W4376545026"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W2164308118","https://openalex.org/W2100760269","https://openalex.org/W3168975231","https://openalex.org/W1933097745","https://openalex.org/W2803941105","https://openalex.org/W967854932","https://openalex.org/W2355155064","https://openalex.org/W1600190658","https://openalex.org/W4386148082"],"abstract_inverted_index":{"This":[0,36],"paper":[1],"considers":[2],"the":[3,6,63,66,92,99,107,111,141],"problem":[4],"of":[5,9,12,39,48,65,88,94,110,143],"dynamic":[7,108],"processing":[8,40,148],"large":[10],"amounts":[11],"sparse":[13],"three-dimensional":[14],"data.":[15],"It":[16,133],"is":[17,79,131,134],"assumed":[18],"that":[19,60,71,136],"computations":[20],"are":[21,58,72],"performed":[22],"in":[23,30,127],"a":[24,45,117,122],"neighborhood":[25],"defined":[26],"around":[27],"each":[28,102],"point":[29],"order":[31],"to":[32,44],"retrieve":[33],"local":[34],"properties.":[35],"general":[37],"kind":[38],"can":[41],"be":[42],"applied":[43],"wide":[46],"variety":[47],"problems.":[49],"A":[50],"new,":[51],"efficient":[52],"data":[53,78,97,103,112,114],"structure":[54],"and":[55,70,91],"corresponding":[56],"algorithms":[57],"proposed":[59],"significantly":[61],"improve":[62],"speed":[64,142],"range":[67],"search":[68],"operation":[69,76],"suitable":[73],"for":[74],"on-line":[75],"where":[77],"accumulated":[80],"dynamically.":[81],"The":[82],"method":[83],"relies":[84],"on":[85,121],"taking":[86],"advantage":[87],"overlapping":[89],"neighborhoods":[90],"reuse":[93],"previously":[95],"computed":[96],"as":[98],"algorithm":[100],"scans":[101],"point.":[104],"To":[105],"demonstrate":[106],"capabilities":[109],"structure,":[113],"obtained":[115],"from":[116],"laser":[118],"radar":[119],"mounted":[120],"ground":[123],"mobile":[124],"robot":[125],"operating":[126],"complex,":[128],"outdoor":[129],"environments":[130],"used.":[132],"shown":[135],"this":[137],"approach":[138],"considerably":[139],"improves":[140],"an":[144],"established":[145],"3-D":[146],"perception":[147],"algorithm.":[149]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}