{"id":"https://openalex.org/W3121529010","doi":"https://doi.org/10.1177/02783649211056674","title":"Kimera: From SLAM to spatial perception with 3D dynamic scene graphs","display_name":"Kimera: From SLAM to spatial perception with 3D dynamic scene graphs","publication_year":2021,"publication_date":"2021-12-01","ids":{"openalex":"https://openalex.org/W3121529010","doi":"https://doi.org/10.1177/02783649211056674","mag":"3121529010"},"language":"en","primary_location":{"id":"doi:10.1177/02783649211056674","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649211056674","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2101.06894","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113909824","display_name":"Antoni Rosinol","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":"Antoni Rosinol","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/A5017003144","display_name":"Andrew Violette","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":"Andrew Violette","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/A5008752305","display_name":"Marcus Abate","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":"Marcus Abate","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/A5043068916","display_name":"Nathan Hughes","orcid":"https://orcid.org/0000-0002-1201-7032"},"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":"Nathan Hughes","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/A5082750695","display_name":"Yun Chang","orcid":"https://orcid.org/0000-0002-2829-5256"},"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":"Yun Chang","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/A5006694174","display_name":"Jingnan Shi","orcid":"https://orcid.org/0000-0001-6918-3237"},"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":"Jingnan Shi","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/A5107600399","display_name":"Arjun Gupta","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":"Arjun Gupta","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/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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5113909824"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":3.37956952,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.92518436,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"40","issue":"12-14","first_page":"1510","last_page":"1546"},"is_retracted":false,"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":0.9990000128746033,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9983999729156494,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7818357944488525},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7516404986381531},{"id":"https://openalex.org/keywords/scene-graph","display_name":"Scene graph","score":0.679021954536438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.671887993812561},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6417877078056335},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5343286991119385},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5107017159461975},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5038613677024841},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4984300136566162},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4704153835773468},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.43367016315460205},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4309818744659424},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.42404043674468994},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.41329675912857056},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.24791219830513},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14557725191116333},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.08933937549591064}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7818357944488525},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7516404986381531},{"id":"https://openalex.org/C179372163","wikidata":"https://www.wikidata.org/wiki/Q1406181","display_name":"Scene graph","level":3,"score":0.679021954536438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.671887993812561},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6417877078056335},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5343286991119385},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5107017159461975},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5038613677024841},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4984300136566162},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4704153835773468},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.43367016315460205},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4309818744659424},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.42404043674468994},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.41329675912857056},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.24791219830513},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14557725191116333},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.08933937549591064},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1177/02783649211056674","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649211056674","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:arXiv.org:2101.06894","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.06894","pdf_url":"https://arxiv.org/pdf/2101.06894","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"mag:3121529010","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2101.06894.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:dspace.mit.edu:1721.1/145298","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/145298","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/JournalArticle"},{"id":"doi:10.48550/arxiv.2101.06894","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2101.06894","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2101.06894","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.06894","pdf_url":"https://arxiv.org/pdf/2101.06894","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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","id":"https://metadata.un.org/sdg/11","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3121529010.pdf"},"referenced_works_count":186,"referenced_works":["https://openalex.org/W600250629","https://openalex.org/W612478963","https://openalex.org/W1586173270","https://openalex.org/W1594951361","https://openalex.org/W1599888605","https://openalex.org/W1894113408","https://openalex.org/W1900053780","https://openalex.org/W1913356549","https://openalex.org/W1938204631","https://openalex.org/W1964502729","https://openalex.org/W1967554269","https://openalex.org/W1968315983","https://openalex.org/W1971086298","https://openalex.org/W1989484209","https://openalex.org/W1993267444","https://openalex.org/W1994114209","https://openalex.org/W1997500560","https://openalex.org/W1998058414","https://openalex.org/W2000321478","https://openalex.org/W2006189386","https://openalex.org/W2033819227","https://openalex.org/W2034792058","https://openalex.org/W2042452952","https://openalex.org/W2047328415","https://openalex.org/W2047947369","https://openalex.org/W2049207102","https://openalex.org/W2049981393","https://openalex.org/W2050781898","https://openalex.org/W2060772243","https://openalex.org/W2061902052","https://openalex.org/W2067506101","https://openalex.org/W2068397385","https://openalex.org/W2069693438","https://openalex.org/W2077069816","https://openalex.org/W2078504439","https://openalex.org/W2080486046","https://openalex.org/W2092399515","https://openalex.org/W2097696373","https://openalex.org/W2105824943","https://openalex.org/W2109635530","https://openalex.org/W2110645484","https://openalex.org/W2113107168","https://openalex.org/W2113755077","https://openalex.org/W2115181176","https://openalex.org/W2117248802","https://openalex.org/W2118223742","https://openalex.org/W2125501610","https://openalex.org/W2126842639","https://openalex.org/W2136675308","https://openalex.org/W2142482451","https://openalex.org/W2147249804","https://openalex.org/W2152571752","https://openalex.org/W2152864241","https://openalex.org/W2153405862","https://openalex.org/W2157145031","https://openalex.org/W2161808137","https://openalex.org/W2163605009","https://openalex.org/W2164729653","https://openalex.org/W2170764835","https://openalex.org/W2181376216","https://openalex.org/W2182229738","https://openalex.org/W2201312286","https://openalex.org/W2210040239","https://openalex.org/W2216550548","https://openalex.org/W2277195237","https://openalex.org/W2336961836","https://openalex.org/W2396274919","https://openalex.org/W2412782625","https://openalex.org/W2418849765","https://openalex.org/W2419448466","https://openalex.org/W2461005315","https://openalex.org/W2461937780","https://openalex.org/W2479423890","https://openalex.org/W2482726005","https://openalex.org/W2483862638","https://openalex.org/W2506483933","https://openalex.org/W2523049145","https://openalex.org/W2527587652","https://openalex.org/W2534523274","https://openalex.org/W2535547924","https://openalex.org/W2547811925","https://openalex.org/W2549599535","https://openalex.org/W2560023338","https://openalex.org/W2560862735","https://openalex.org/W2561715562","https://openalex.org/W2564125379","https://openalex.org/W2564322318","https://openalex.org/W2573098616","https://openalex.org/W2573854917","https://openalex.org/W2579549467","https://openalex.org/W2591644541","https://openalex.org/W2606794968","https://openalex.org/W2609077090","https://openalex.org/W2613718673","https://openalex.org/W2670684868","https://openalex.org/W2726240580","https://openalex.org/W2737732421","https://openalex.org/W2739423245","https://openalex.org/W2741885505","https://openalex.org/W2745859992","https://openalex.org/W2746349752","https://openalex.org/W2774270371","https://openalex.org/W2786036844","https://openalex.org/W2789702442","https://openalex.org/W2794549886","https://openalex.org/W2798278946","https://openalex.org/W2798411580","https://openalex.org/W2798637590","https://openalex.org/W2800978878","https://openalex.org/W2803369337","https://openalex.org/W2808571300","https://openalex.org/W2808775391","https://openalex.org/W2809139245","https://openalex.org/W2811184430","https://openalex.org/W2851217339","https://openalex.org/W2883702102","https://openalex.org/W2885364117","https://openalex.org/W2886944874","https://openalex.org/W2887751724","https://openalex.org/W2888144883","https://openalex.org/W2890092611","https://openalex.org/W2891820683","https://openalex.org/W2892165078","https://openalex.org/W2897828525","https://openalex.org/W2909791330","https://openalex.org/W2913685494","https://openalex.org/W2919379406","https://openalex.org/W2944462671","https://openalex.org/W2944895446","https://openalex.org/W2949233999","https://openalex.org/W2951735235","https://openalex.org/W2952358048","https://openalex.org/W2956061722","https://openalex.org/W2962749469","https://openalex.org/W2962754033","https://openalex.org/W2962772116","https://openalex.org/W2962794880","https://openalex.org/W2963383024","https://openalex.org/W2963649796","https://openalex.org/W2963650529","https://openalex.org/W2963699643","https://openalex.org/W2963881378","https://openalex.org/W2963907666","https://openalex.org/W2963921921","https://openalex.org/W2964076802","https://openalex.org/W2964226622","https://openalex.org/W2964327083","https://openalex.org/W2965853874","https://openalex.org/W2967352563","https://openalex.org/W2967353954","https://openalex.org/W2968893828","https://openalex.org/W2979170133","https://openalex.org/W2982275673","https://openalex.org/W2985912973","https://openalex.org/W2990129662","https://openalex.org/W2990284439","https://openalex.org/W2991216808","https://openalex.org/W2993948066","https://openalex.org/W2997495511","https://openalex.org/W3003174489","https://openalex.org/W3004300126","https://openalex.org/W3034494757","https://openalex.org/W3035154952","https://openalex.org/W3035424742","https://openalex.org/W3035435924","https://openalex.org/W3035551320","https://openalex.org/W3039925688","https://openalex.org/W3042634092","https://openalex.org/W3089287502","https://openalex.org/W3090386798","https://openalex.org/W3090459043","https://openalex.org/W3093324477","https://openalex.org/W3098250009","https://openalex.org/W3099343074","https://openalex.org/W3099567080","https://openalex.org/W3102129812","https://openalex.org/W3102327032","https://openalex.org/W3102330937","https://openalex.org/W3104726354","https://openalex.org/W3104766777","https://openalex.org/W3106458387","https://openalex.org/W3111598592","https://openalex.org/W3125969836","https://openalex.org/W3130848239","https://openalex.org/W4233857083","https://openalex.org/W4255045719"],"related_works":["https://openalex.org/W3039925688","https://openalex.org/W3129596473","https://openalex.org/W2088287910","https://openalex.org/W2562779487","https://openalex.org/W2765659515","https://openalex.org/W2522924858","https://openalex.org/W2076322530","https://openalex.org/W2470820246","https://openalex.org/W3139201864","https://openalex.org/W2784067459","https://openalex.org/W1976248316","https://openalex.org/W3092314908","https://openalex.org/W3011866242","https://openalex.org/W2001587998","https://openalex.org/W2194739730","https://openalex.org/W2032541004","https://openalex.org/W2985926990","https://openalex.org/W3035733723","https://openalex.org/W186491578","https://openalex.org/W2990129662"],"abstract_inverted_index":{"Humans":[0],"are":[1],"able":[2],"to":[3,101,165,268,271],"form":[4,76],"a":[5,47,51,54,65,78,94,112,115,129,135,167,200,212,219,249,252,273],"complex":[6,253],"mental":[7,16],"model":[8,17,244],"of":[9,23,32,70,77,83,96,128,146,203,221,251,258],"the":[10,24,27,71,75,103,160],"environment":[11,28,255],"they":[12],"move":[13],"in.":[14],"This":[15,98],"captures":[18,123],"geometric":[19,84],"and":[20,40,43,67,90,107,125,148,180,190,193,208,224,247,260],"semantic":[21,126,278],"aspects":[22,127],"scene,":[25],"describes":[26],"at":[29,53,143],"multiple":[30],"levels":[31,145],"abstractions":[33],"(e.g.,":[34,46,86],"objects,":[35],"rooms,":[36],"buildings),":[37],"includes":[38,173],"static":[39],"dynamic":[41,117,130],"entities":[42],"their":[44],"relations":[45,152],"person":[48],"is":[49,134,158,199,267],"in":[50,74,205,235,245,262,283],"room":[52],"given":[55],"time).":[56],"In":[57],"contrast,":[58],"current":[59],"robots\u2019":[60],"internal":[61],"representations":[62],"still":[63],"provide":[64],"partial":[66],"fragmented":[68],"understanding":[69],"environment,":[72],"either":[73],"sparse":[79],"or":[80,92],"dense":[81],"set":[82],"primitives":[85],"points,":[87],"lines,":[88],"planes,":[89],"voxels),":[91],"as":[93],"collection":[95,220],"objects.":[97],"article":[99],"attempts":[100],"reduce":[102],"gap":[104],"between":[105],"robot":[106],"human":[108,188],"perception":[109],"by":[110],"introducing":[111],"novel":[113],"representation,":[114],"3D":[116,184,241],"scene":[118,194],"graph":[119,137],"(DSG),":[120],"that":[121,230],"seamlessly":[122],"metric":[124],"environment.":[131],"A":[132],"DSG":[133,168,250,274],"layered":[136],"where":[138],"nodes":[139],"represent":[140,150],"spatial":[141],"concepts":[142],"different":[144],"abstraction,":[147],"edges":[149],"spatiotemporal":[151],"among":[153],"nodes.":[154],"Our":[155,196,227,264],"second":[156],"contribution":[157,198,266],"Kimera,":[159],"first":[161],"fully":[162],"automatic":[163],"method":[164],"build":[166],"from":[169],"visual\u2013inertial":[170,177,236],"data.":[171],"Kimera":[172,204,231,284],"accurate":[174,240],"algorithms":[175],"for":[176,275],"simultaneous":[178],"localization":[179],"mapping":[181],"(SLAM),":[182],"metric\u2013semantic":[183,242],"reconstruction,":[185],"object":[186],"localization,":[187],"pose":[189],"shape":[191],"estimation,":[192],"parsing.":[195],"third":[197],"comprehensive":[201],"evaluation":[202,228],"real-life":[206],"datasets":[207],"photo-realistic":[209],"simulations,":[210],"including":[211],"newly":[213],"released":[214,287],"dataset,":[215],"uHumans2,":[216],"which":[217],"simulates":[218],"crowded":[222],"indoor":[223,254],"outdoor":[225],"scenes.":[226],"shows":[229],"achieves":[232],"competitive":[233],"performance":[234],"SLAM,":[237],"estimates":[238],"an":[239],"mesh":[243],"real-time,":[246],"builds":[248],"with":[256],"tens":[257],"objects":[259],"humans":[261],"minutes.":[263],"final":[265],"showcase":[269],"how":[270],"use":[272],"real-time":[276],"hierarchical":[277],"path-planning.":[279],"The":[280],"core":[281],"modules":[282],"have":[285],"been":[286],"open":[288],"source.":[289]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}