{"id":"https://openalex.org/W3100795400","doi":"https://doi.org/10.3390/robotics6030015","title":"Compressed Voxel-Based Mapping Using Unsupervised Learning","display_name":"Compressed Voxel-Based Mapping Using Unsupervised Learning","publication_year":2017,"publication_date":"2017-06-29","ids":{"openalex":"https://openalex.org/W3100795400","doi":"https://doi.org/10.3390/robotics6030015","mag":"3100795400"},"language":"en","primary_location":{"id":"doi:10.3390/robotics6030015","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6030015","pdf_url":"https://www.mdpi.com/2218-6581/6/3/15/pdf?version=1498736313","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/6/3/15/pdf?version=1498736313","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044454108","display_name":"Daniel Ric\u00e3o Canelhas","orcid":"https://orcid.org/0000-0001-7035-5710"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Daniel Ricao Canelhas","raw_affiliation_strings":["Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro 701 82, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-7035-5710","affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro 701 82, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024984249","display_name":"Erik Schaffernicht","orcid":"https://orcid.org/0000-0002-0804-8637"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Erik Schaffernicht","raw_affiliation_strings":["Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro 701 82, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro 701 82, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044352907","display_name":"Todor Stoyanov","orcid":"https://orcid.org/0000-0002-6013-4874"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Todor Stoyanov","raw_affiliation_strings":["Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro 701 82, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro 701 82, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088586617","display_name":"Achim J. Lilienthal","orcid":"https://orcid.org/0000-0003-0217-9326"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Achim Lilienthal","raw_affiliation_strings":["Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro 701 82, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-0217-9326","affiliations":[{"raw_affiliation_string":"Center of Applied Autonomous Sensor Systems (AASS), \u00d6rebro University, \u00d6rebro 701 82, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066261056","display_name":"Andrew Davison","orcid":"https://orcid.org/0000-0003-0716-2080"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew Davison","raw_affiliation_strings":["Department of Computing, Imperial College London, London SW7 2AZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5044454108"],"corresponding_institution_ids":["https://openalex.org/I26437253"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":315,"currency":"EUR","value_usd":339},"fwci":0.5547,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.77524121,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"6","issue":"3","first_page":"15","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"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/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7484675645828247},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7208014130592346},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.48924970626831055},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4683398902416229},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4503924250602722},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4330558776855469},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12176069617271423}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7484675645828247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7208014130592346},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.48924970626831055},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4683398902416229},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4503924250602722},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4330558776855469},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12176069617271423}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics6030015","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6030015","pdf_url":"https://www.mdpi.com/2218-6581/6/3/15/pdf?version=1498736313","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1609.02462","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1609.02462","pdf_url":"https://arxiv.org/pdf/1609.02462","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":null,"raw_type":"text"},{"id":"pmh:oai:mdpi.com:/2218-6581/6/3/15/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics6030015","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Robotics; Volume 6; Issue 3; Pages: 15","raw_type":"Text"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/68662","is_oa":true,"landing_page_url":"http://hdl.handle.net/10044/1/68662","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"doi:10.3390/robotics6030015","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6030015","pdf_url":"https://www.mdpi.com/2218-6581/6/3/15/pdf?version=1498736313","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1018575294","display_name":"Cognitive Robot for Automation of Logistic Processes","funder_award_id":"270350","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G1535130713","display_name":null,"funder_award_id":"H2020-ICT","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G2327389780","display_name":null,"funder_award_id":"732737","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G4937468798","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5483342299","display_name":null,"funder_award_id":"FP7-ICT","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8684301878","display_name":null,"funder_award_id":"270350","funder_id":"https://openalex.org/F4320338370","funder_display_name":"FP7 Information and Communication Technologies"},{"id":"https://openalex.org/G8978772121","display_name":"Intra-Logistics with Integrated Automatic Deployment: safe and scalable fleets in shared spaces","funder_award_id":"732737","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338370","display_name":"FP7 Information and Communication Technologies","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3100795400.pdf","grobid_xml":"https://content.openalex.org/works/W3100795400.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W105226629","https://openalex.org/W825979034","https://openalex.org/W832971097","https://openalex.org/W1477723046","https://openalex.org/W1498436455","https://openalex.org/W1519865121","https://openalex.org/W1534477342","https://openalex.org/W1716229439","https://openalex.org/W1861233026","https://openalex.org/W1969291828","https://openalex.org/W1983516323","https://openalex.org/W1987648924","https://openalex.org/W1993244675","https://openalex.org/W2004312117","https://openalex.org/W2009422376","https://openalex.org/W2021851106","https://openalex.org/W2026179794","https://openalex.org/W2089468765","https://openalex.org/W2100495367","https://openalex.org/W2101234009","https://openalex.org/W2126403841","https://openalex.org/W2138451337","https://openalex.org/W2148694408","https://openalex.org/W2160547390","https://openalex.org/W2232710831","https://openalex.org/W2237767100","https://openalex.org/W2243794092","https://openalex.org/W2295692686","https://openalex.org/W2488097972","https://openalex.org/W4210678508","https://openalex.org/W4235765578","https://openalex.org/W4293460823","https://openalex.org/W6628656756","https://openalex.org/W6637636807","https://openalex.org/W6675354045","https://openalex.org/W6678414126"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,47,59,82,121],"deal":[3],"with":[4],"the":[5,70,83,106,122],"scaling":[6],"problem":[7],"of":[8,20,72,85,124],"volumetric":[9],"map":[10],"representations,":[11],"we":[12,53,68],"propose":[13],"spatially":[14],"local":[15],"methods":[16],"for":[17,41,101],"high-ratio":[18],"compression":[19,51,74],"3D":[21],"maps,":[22],"represented":[23],"as":[24,38,79,81,98],"truncated":[25],"signed":[26],"distance":[27,95],"fields.":[28],"We":[29],"show":[30],"that":[31,92],"these":[32],"compressed":[33],"maps":[34,108],"can":[35,104],"be":[36],"used":[37,97],"meaningful":[39],"descriptors":[40],"selective":[42],"decompression":[43],"in":[44,109],"scenarios":[45,111],"relevant":[46],"robotic":[48],"applications.":[49],"As":[50],"methods,":[52],"compare":[54],"using":[55],"PCA-derived":[56],"low-dimensional":[57],"bases":[58],"nonlinear":[60],"auto-encoder":[61],"networks.":[62],"Selecting":[63],"two":[64],"application-oriented":[65],"performance":[66],"metrics,":[67],"evaluate":[69],"impact":[71],"different":[73],"rates":[75],"on":[76],"reconstruction":[77],"fidelity":[78],"well":[80],"task":[84],"map-aided":[86],"ego-motion":[87,102],"estimation.":[88],"It":[89],"is":[90],"demonstrated":[91],"lossily":[93],"reconstructed":[94],"fields":[96],"cost":[99],"functions":[100],"estimation":[103],"outperform":[105],"original":[107],"challenging":[110],"from":[112],"standard":[113],"RGB-D":[114],"(color":[115],"plus":[116],"depth)":[117],"data":[118],"sets":[119],"due":[120],"rejection":[123],"high-frequency":[125],"noise":[126],"content.":[127]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-11-23T00:00:00"}
