{"id":"https://openalex.org/W2963835689","doi":"https://doi.org/10.1177/0278364919850296","title":"Sparse depth sensing for resource-constrained robots","display_name":"Sparse depth sensing for resource-constrained robots","publication_year":2019,"publication_date":"2019-06-24","ids":{"openalex":"https://openalex.org/W2963835689","doi":"https://doi.org/10.1177/0278364919850296","mag":"2963835689"},"language":"en","primary_location":{"id":"doi:10.1177/0278364919850296","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364919850296","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"],"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/A5065452156","display_name":"Fangchang Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Fangchang Ma","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079748451","display_name":"Ula\u015f Ayaz","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ulas Ayaz","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sertac Karaman","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065452156"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":1.9352,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.85251447,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"38","issue":"8","first_page":"935","last_page":"980"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9979000091552734,"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/leverage","display_name":"Leverage (statistics)","score":0.6316333413124084},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5967620611190796},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5900799632072449},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.48298728466033936},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.47398653626441956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4620020091533661},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.457493394613266},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.43669477105140686},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4279588460922241},{"id":"https://openalex.org/keywords/compressed-sensing","display_name":"Compressed sensing","score":0.4182174503803253},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.41183650493621826},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4058294892311096},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3886200785636902},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22649413347244263},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.1336042881011963},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13262242078781128}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6316333413124084},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5967620611190796},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5900799632072449},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.48298728466033936},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.47398653626441956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4620020091533661},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.457493394613266},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.43669477105140686},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4279588460922241},{"id":"https://openalex.org/C124851039","wikidata":"https://www.wikidata.org/wiki/Q2665459","display_name":"Compressed sensing","level":2,"score":0.4182174503803253},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.41183650493621826},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4058294892311096},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3886200785636902},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22649413347244263},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.1336042881011963},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13262242078781128},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364919850296","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364919850296","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":89,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W131453719","https://openalex.org/W143004564","https://openalex.org/W952232455","https://openalex.org/W1544078767","https://openalex.org/W1583497301","https://openalex.org/W1602724287","https://openalex.org/W1603765807","https://openalex.org/W1612997784","https://openalex.org/W1921958996","https://openalex.org/W1967027087","https://openalex.org/W1978683893","https://openalex.org/W1983602517","https://openalex.org/W1991065546","https://openalex.org/W2000594266","https://openalex.org/W2004457624","https://openalex.org/W2005441409","https://openalex.org/W2023722580","https://openalex.org/W2024763827","https://openalex.org/W2027600454","https://openalex.org/W2029411311","https://openalex.org/W2030987944","https://openalex.org/W2031191822","https://openalex.org/W2034260606","https://openalex.org/W2039039026","https://openalex.org/W2040437014","https://openalex.org/W2054010646","https://openalex.org/W2055034398","https://openalex.org/W2055255836","https://openalex.org/W2060506423","https://openalex.org/W2073261719","https://openalex.org/W2081709959","https://openalex.org/W2083059319","https://openalex.org/W2088757234","https://openalex.org/W2090673849","https://openalex.org/W2098433547","https://openalex.org/W2099712288","https://openalex.org/W2103559027","https://openalex.org/W2104599718","https://openalex.org/W2105038642","https://openalex.org/W2106649082","https://openalex.org/W2108134361","https://openalex.org/W2113030459","https://openalex.org/W2113642685","https://openalex.org/W2118550318","https://openalex.org/W2119493293","https://openalex.org/W2119667497","https://openalex.org/W2122548617","https://openalex.org/W2128445255","https://openalex.org/W2129638195","https://openalex.org/W2130422193","https://openalex.org/W2133255058","https://openalex.org/W2136236413","https://openalex.org/W2142211803","https://openalex.org/W2144962567","https://openalex.org/W2145023731","https://openalex.org/W2150066425","https://openalex.org/W2152132615","https://openalex.org/W2152171106","https://openalex.org/W2155830983","https://openalex.org/W2166706645","https://openalex.org/W2167340365","https://openalex.org/W2167732364","https://openalex.org/W2199132929","https://openalex.org/W2225918971","https://openalex.org/W2283923131","https://openalex.org/W2295936755","https://openalex.org/W2406926568","https://openalex.org/W2497420691","https://openalex.org/W2560658338","https://openalex.org/W2564349480","https://openalex.org/W2566430556","https://openalex.org/W2571001570","https://openalex.org/W2604272474","https://openalex.org/W2794739174","https://openalex.org/W2963045776","https://openalex.org/W2963591054","https://openalex.org/W2969202876","https://openalex.org/W3099751318","https://openalex.org/W3103648783","https://openalex.org/W3105340263","https://openalex.org/W3124114587","https://openalex.org/W4206273864","https://openalex.org/W4232435128","https://openalex.org/W4241892410","https://openalex.org/W4247561455","https://openalex.org/W4250955649","https://openalex.org/W4301045096","https://openalex.org/W6600654476"],"related_works":["https://openalex.org/W2158224665","https://openalex.org/W2379589510","https://openalex.org/W2810730439","https://openalex.org/W4287694812","https://openalex.org/W3128716822","https://openalex.org/W3046762217","https://openalex.org/W2368534456","https://openalex.org/W2980582925","https://openalex.org/W2922069956","https://openalex.org/W3092618660"],"abstract_inverted_index":{"We":[0,44],"consider":[1],"the":[2,46,54,77,83,117,126,144,149,160,163,254,269],"case":[3],"in":[4,11,73,80,130,152,221,232],"which":[5],"a":[6,26,31,39,94,105,114,137,173,272],"robot":[7,78,123],"has":[8],"to":[9,24,52,101],"navigate":[10],"an":[12,57,228],"unknown":[13,58],"environment,":[14],"but":[15,75],"does":[16],"not":[17,71],"have":[18],"enough":[19],"on-board":[20],"power":[21],"or":[22],"payload":[23],"carry":[25],"traditional":[27],"depth":[28,42,64,84,103,118,150,179,188,219,259],"sensor":[29],"(e.g.,":[30,88],"3D":[32,155,235],"lidar)":[33],"and":[34,62,146,154,157,203,234,244,264],"thus":[35],"can":[36,167],"only":[37,93],"acquire":[38],"few":[40,95],"(point-wise)":[41],"measurements.":[43,109],"address":[45],"following":[47],"question:":[48],"is":[49,70,113,172,227,275],"it":[50],"possible":[51,72],"reconstruct":[53],"geometry":[55,161],"of":[56,108,116,139,148,162,175,271],"environment":[59,274],"using":[60],"sparse":[61],"incomplete":[63,68],"measurements?":[65],"Reconstruction":[66],"from":[67,104],"data":[69],"general,":[74],"when":[76,268],"operates":[79],"man-made":[81],"environments,":[82],"exhibits":[85],"some":[86],"regularity":[87,100],"many":[89],"planar":[90],"surfaces":[91],"with":[92,125],"edges);":[96],"we":[97,166,212],"leverage":[98],"this":[99,210],"infer":[102],"small":[106],"number":[107],"Our":[110,169],"first":[111],"contribution":[112,135,171,226],"formulation":[115,182],"reconstruction":[119,151,220],"problem":[120],"that":[121,142,165,216,253],"bridges":[122],"perception":[124],"compressive":[127],"sensing":[128],"literature":[129],"signal":[131],"processing.":[132],"The":[133,224],"second":[134],"includes":[136],"set":[138,174],"formal":[140],"results":[141,251],"ascertain":[143],"exactness":[145],"stability":[147],"2D":[153,233],"problems,":[156,196,236],"completely":[158],"characterize":[159],"profiles":[164],"reconstruct.":[168],"third":[170],"practical":[176],"algorithms":[177,186],"for":[178,187],"reconstruction:":[180],"our":[181],"directly":[183],"translates":[184],"into":[185],"estimation":[189],"based":[190],"on":[191,241,246],"convex":[192,198],"programming.":[193],"In":[194],"real-world":[195],"these":[197],"programs":[199],"are":[200,206],"very":[201],"large":[202],"general-purpose":[204],"solvers":[205,215],"relatively":[207],"slow.":[208],"For":[209],"reason,":[211],"discuss":[213],"ad-hoc":[214],"enable":[217],"fast":[218],"real":[222,248],"problems.":[223],"last":[225],"extensive":[229],"experimental":[230],"evaluation":[231],"including":[237],"Monte":[238],"Carlo":[239],"runs":[240],"simulated":[242],"instances":[243],"testing":[245],"multiple":[247],"datasets.":[249],"Empirical":[250],"confirm":[252],"proposed":[255],"approach":[256],"ensures":[257],"accurate":[258],"reconstruction,":[260],"outperforms":[261],"interpolation-based":[262],"strategies,":[263],"performs":[265],"well":[266],"even":[267],"assumption":[270],"structured":[273],"violated.":[276]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-29T08:15:47.926485","created_date":"2025-10-10T00:00:00"}
