{"id":"https://openalex.org/W347940154","doi":"https://doi.org/10.2312/vmv.20141281","title":"A Generalized 2D and 3D Multi-Sensor Data Integration Approach based on Signed Distance Functions for Multi-Modal Robotic Mapping","display_name":"A Generalized 2D and 3D Multi-Sensor Data Integration Approach based on Signed Distance Functions for Multi-Modal Robotic Mapping","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W347940154","doi":"https://doi.org/10.2312/vmv.20141281","mag":"347940154"},"language":"en","primary_location":{"id":"doi:10.2312/vmv.20141281","is_oa":true,"landing_page_url":"https://doi.org/10.2312/vmv.20141281","pdf_url":null,"source":{"id":"https://openalex.org/S7407052899","display_name":"Eurographics","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":false,"raw_source_name":null,"raw_type":"article"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.2312/vmv.20141281","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055167266","display_name":"Stefan May","orcid":"https://orcid.org/0000-0001-6859-1896"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"May, Stefan","raw_affiliation_strings":["Institut national de recherche en informatique et en automatique, Le Chesnay-Rocquencourt, France"],"affiliations":[{"raw_affiliation_string":"Institut national de recherche en informatique et en automatique, Le Chesnay-Rocquencourt, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044840858","display_name":"Philipp Koch","orcid":"https://orcid.org/0000-0002-8795-758X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Koch, Philipp","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086286839","display_name":"Rainer Koch","orcid":"https://orcid.org/0000-0002-2297-0185"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Koch, Rainer","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025850984","display_name":"Christian Merkl","orcid":"https://orcid.org/0000-0001-5607-8286"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Merkl, Christian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072386039","display_name":"Christian Pfitzner","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pfitzner, Christian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5113992144","display_name":"Andreas N\u00fcchter","orcid":null},"institutions":[{"id":"https://openalex.org/I25974101","display_name":"University of W\u00fcrzburg","ror":"https://ror.org/00fbnyb24","country_code":"DE","type":"education","lineage":["https://openalex.org/I25974101"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"N\u00fcchter, Andreas","raw_affiliation_strings":["University of W\u00fcrzburg, W\u00fcrzburg, Germany"],"affiliations":[{"raw_affiliation_string":"University of W\u00fcrzburg, W\u00fcrzburg, Germany","institution_ids":["https://openalex.org/I25974101"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5055167266"],"corresponding_institution_ids":["https://openalex.org/I1326498283"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"95","last_page":"102"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9983000159263611,"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/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-vision","display_name":"Computer vision","score":0.7089762687683105},{"id":"https://openalex.org/keywords/signed-distance-function","display_name":"Signed distance function","score":0.6805969476699829},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6515874266624451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6431570649147034},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6423605680465698},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5384423732757568},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.46933048963546753},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4448360800743103},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4216834604740143},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2721860408782959},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18033841252326965},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14245471358299255}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7089762687683105},{"id":"https://openalex.org/C71169176","wikidata":"https://www.wikidata.org/wiki/Q7512907","display_name":"Signed distance function","level":2,"score":0.6805969476699829},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6515874266624451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6431570649147034},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6423605680465698},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5384423732757568},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.46933048963546753},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4448360800743103},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4216834604740143},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2721860408782959},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18033841252326965},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14245471358299255},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.2312/vmv.20141281","is_oa":true,"landing_page_url":"https://doi.org/10.2312/vmv.20141281","pdf_url":null,"source":{"id":"https://openalex.org/S7407052899","display_name":"Eurographics","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"},{"id":"mag:347940154","is_oa":false,"landing_page_url":"https://robotik.informatik.uni-wuerzburg.de/telematics/download/vmv2014.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306421152","display_name":"Vision Modeling and Visualization","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"Vision Modeling and Visualization","raw_type":null}],"best_oa_location":{"id":"doi:10.2312/vmv.20141281","is_oa":true,"landing_page_url":"https://doi.org/10.2312/vmv.20141281","pdf_url":null,"source":{"id":"https://openalex.org/S7407052899","display_name":"Eurographics","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":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1187244281","https://openalex.org/W1514337601","https://openalex.org/W1567242735","https://openalex.org/W1650975994","https://openalex.org/W1781331020","https://openalex.org/W1883517952","https://openalex.org/W2021851106","https://openalex.org/W2049981393","https://openalex.org/W2050256614","https://openalex.org/W2071398263","https://openalex.org/W2071992612","https://openalex.org/W2093834886","https://openalex.org/W2099940712","https://openalex.org/W2105303354","https://openalex.org/W2119851068","https://openalex.org/W2129201358","https://openalex.org/W2151103935","https://openalex.org/W2161900517","https://openalex.org/W2243794092"],"related_works":["https://openalex.org/W2099940712","https://openalex.org/W2118104180","https://openalex.org/W2049981393","https://openalex.org/W1883517952","https://openalex.org/W2786277590","https://openalex.org/W2588362002","https://openalex.org/W1534710825","https://openalex.org/W2040972595","https://openalex.org/W2891104420","https://openalex.org/W3129693044","https://openalex.org/W1881885736","https://openalex.org/W2963463264","https://openalex.org/W1598947584","https://openalex.org/W2257548248","https://openalex.org/W2909338721","https://openalex.org/W2894705404","https://openalex.org/W2141764156","https://openalex.org/W3205428389","https://openalex.org/W1783865723","https://openalex.org/W2955373194"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,59,113],"data":[4],"integration":[5],"approach":[6,26,84],"for":[7],"arbitrary":[8],"2D/3D":[9,39],"depth":[10],"sensing":[11],"units":[12],"exploiting":[13],"assets":[14],"of":[15,38,70,82,99],"the":[16,24,50,86,97],"signed":[17],"distance":[18],"function.":[19],"The":[20],"underlying":[21],"framework":[22],"generalizes":[23],"KinectFusion":[25],"with":[27,58,75,108],"an":[28,54,76],"objectoriented":[29],"model":[30],"respecting":[31],"different":[32],"sensor":[33],"modalities.":[34],"For":[35],"instance,":[36],"measurements":[37],"laser":[40,61,101],"range":[41,62,102],"finders":[42,103],"and":[43],"RGB-D":[44,77],"cameras":[45],"can":[46],"be":[47],"integrated":[48],"into":[49],"same":[51],"representation.":[52],"Exemplary,":[53],"environment":[55],"is":[56,85,94],"reconstructed":[57],"3D":[60],"finder,":[63],"while":[64,104],"adding":[65],"fine":[66],"details":[67],"from":[68],"objects":[69],"interest":[71],"by":[72],"closer":[73],"inspection":[74],"sensor.":[78],"A":[79],"typical":[80],"application":[81],"this":[83],"exploration":[87],"in":[88],"rescue":[89],"environments,":[90],"where":[91],"large-scale":[92],"mapping":[93],"performed":[95],"on":[96],"basis":[98],"long-range":[100],"hollows":[105],"are":[106],"inspected":[107],"lightweight":[109],"sensors":[110],"attached":[111],"to":[112],"manipulator":[114],"arm.":[115]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}