{"id":"https://openalex.org/W3112564655","doi":"https://doi.org/10.3390/rs12244088","title":"Navigation and Mapping in Forest Environment Using Sparse Point Clouds","display_name":"Navigation and Mapping in Forest Environment Using Sparse Point Clouds","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3112564655","doi":"https://doi.org/10.3390/rs12244088","mag":"3112564655"},"language":"en","primary_location":{"id":"doi:10.3390/rs12244088","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs12244088","pdf_url":"https://www.mdpi.com/2072-4292/12/24/4088/pdf?version=1608293251","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/12/24/4088/pdf?version=1608293251","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026584476","display_name":"Paavo Nevalainen","orcid":"https://orcid.org/0000-0002-7646-929X"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Paavo Nevalainen","raw_affiliation_strings":["Department of Future Technologies, University of Turku, 20014 Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Future Technologies, University of Turku, 20014 Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050580578","display_name":"Qingqing Li","orcid":"https://orcid.org/0000-0001-6556-2213"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Qingqing Li","raw_affiliation_strings":["Department of Future Technologies, University of Turku, 20014 Turku, Finland"],"raw_orcid":"https://orcid.org/0000-0001-6556-2213","affiliations":[{"raw_affiliation_string":"Department of Future Technologies, University of Turku, 20014 Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062375597","display_name":"Timo Melkas","orcid":"https://orcid.org/0000-0003-1960-7200"},"institutions":[{"id":"https://openalex.org/I4210140866","display_name":"Mets\u00e4hallitus (Finland)","ror":"https://ror.org/04571v857","country_code":"FI","type":"company","lineage":["https://openalex.org/I4210140866"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Timo Melkas","raw_affiliation_strings":["Mets\u00e4teho Oy, 01300 Vantaa, Finland"],"raw_orcid":"https://orcid.org/0000-0003-1960-7200","affiliations":[{"raw_affiliation_string":"Mets\u00e4teho Oy, 01300 Vantaa, Finland","institution_ids":["https://openalex.org/I4210140866"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004150920","display_name":"Kirsi Riekki","orcid":"https://orcid.org/0009-0007-8366-3297"},"institutions":[{"id":"https://openalex.org/I4210140866","display_name":"Mets\u00e4hallitus (Finland)","ror":"https://ror.org/04571v857","country_code":"FI","type":"company","lineage":["https://openalex.org/I4210140866"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Kirsi Riekki","raw_affiliation_strings":["Mets\u00e4teho Oy, 01300 Vantaa, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mets\u00e4teho Oy, 01300 Vantaa, Finland","institution_ids":["https://openalex.org/I4210140866"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031850966","display_name":"Tomi Westerlund","orcid":"https://orcid.org/0000-0002-1793-2694"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Tomi Westerlund","raw_affiliation_strings":["Department of Future Technologies, University of Turku, 20014 Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Future Technologies, University of Turku, 20014 Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058539829","display_name":"Jukka Heikkonen","orcid":"https://orcid.org/0000-0002-2468-5708"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jukka Heikkonen","raw_affiliation_strings":["Department of Future Technologies, University of Turku, 20014 Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Future Technologies, University of Turku, 20014 Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5026584476"],"corresponding_institution_ids":["https://openalex.org/I155660961"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":555,"currency":"EUR","value_usd":598},"fwci":0.8769,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.7148283,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"12","issue":"24","first_page":"4088","last_page":"4088"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8132744431495667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7293336391448975},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7010161280632019},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.6787307262420654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6104137897491455},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6091868281364441},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5833836793899536},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.431309312582016},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3933863937854767},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2031189501285553},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1951877772808075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1616072654724121},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06784144043922424}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8132744431495667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7293336391448975},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7010161280632019},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6787307262420654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6104137897491455},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6091868281364441},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5833836793899536},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.431309312582016},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3933863937854767},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2031189501285553},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1951877772808075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1616072654724121},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06784144043922424}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs12244088","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs12244088","pdf_url":"https://www.mdpi.com/2072-4292/12/24/4088/pdf?version=1608293251","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b49a04fcf77241a5acc48efa82aa3550","is_oa":true,"landing_page_url":"https://doaj.org/article/b49a04fcf77241a5acc48efa82aa3550","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 12, Iss 24, p 4088 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/12/24/4088/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs12244088","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":"Remote Sensing; Volume 12; Issue 24; Pages: 4088","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs12244088","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs12244088","pdf_url":"https://www.mdpi.com/2072-4292/12/24/4088/pdf?version=1608293251","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.699999988079071}],"awards":[{"id":"https://openalex.org/G8612780139","display_name":null,"funder_award_id":"26004155","funder_id":"https://openalex.org/F4320328501","funder_display_name":"Business Finland"}],"funders":[{"id":"https://openalex.org/F4320321394","display_name":"Aalto-Yliopisto","ror":"https://ror.org/020hwjq30"},{"id":"https://openalex.org/F4320328501","display_name":"Business Finland","ror":"https://ror.org/05bgf9v38"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3112564655.pdf","grobid_xml":"https://content.openalex.org/works/W3112564655.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W60203721","https://openalex.org/W1493383082","https://openalex.org/W1760422680","https://openalex.org/W2013316404","https://openalex.org/W2018722558","https://openalex.org/W2106460094","https://openalex.org/W2135785479","https://openalex.org/W2140711847","https://openalex.org/W2152864241","https://openalex.org/W2161558635","https://openalex.org/W2192456613","https://openalex.org/W2221968243","https://openalex.org/W2258250354","https://openalex.org/W2280788228","https://openalex.org/W2296228853","https://openalex.org/W2322654105","https://openalex.org/W2344109021","https://openalex.org/W2400660266","https://openalex.org/W2461937780","https://openalex.org/W2503847524","https://openalex.org/W2548530279","https://openalex.org/W2563061754","https://openalex.org/W2591466624","https://openalex.org/W2738312616","https://openalex.org/W2782807102","https://openalex.org/W2809605404","https://openalex.org/W2884197231","https://openalex.org/W2891004078","https://openalex.org/W2902752886","https://openalex.org/W2909908358","https://openalex.org/W2913475014","https://openalex.org/W2932649578","https://openalex.org/W2948901405","https://openalex.org/W2969991623","https://openalex.org/W2972415975","https://openalex.org/W2983104849","https://openalex.org/W2998553944","https://openalex.org/W2998808044","https://openalex.org/W2999713046","https://openalex.org/W3024286373","https://openalex.org/W3031288689","https://openalex.org/W3042948253","https://openalex.org/W3104639723","https://openalex.org/W3124420883","https://openalex.org/W3133793101","https://openalex.org/W4231626925","https://openalex.org/W4399469378","https://openalex.org/W6602433476","https://openalex.org/W6712638683","https://openalex.org/W6762849157","https://openalex.org/W7037651050"],"related_works":["https://openalex.org/W4386936491","https://openalex.org/W3110195467","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W4308497005","https://openalex.org/W2152464524","https://openalex.org/W2081798451"],"abstract_inverted_index":{"Odometry":[0,135],"during":[1],"forest":[2,73],"operations":[3],"is":[4,43,102,169],"demanding,":[5],"involving":[6],"limited":[7],"field":[8,53],"of":[9,130,155,162],"vision":[10],"(FOV),":[11],"back-and-forth":[12],"work":[13],"cycle":[14],"movements,":[15],"and":[16,49,65,91,136,141,159],"occasional":[17],"close":[18],"obstacles,":[19],"which":[20,42,104],"create":[21],"problems":[22],"for":[23,46],"state-of-the-art":[24],"systems.":[25],"We":[26],"propose":[27],"a":[28,37,59,62,66,76,92,110,183],"two-phase":[29],"on-board":[30],"process,":[31],"where":[32],"tree":[33,120],"stem":[34,121],"registration":[35,151],"produces":[36],"sparse":[38,88],"point":[39],"cloud":[40],"(PC)":[41],"then":[44],"used":[45],"simultaneous":[47],"location":[48,175],"mapping":[50,137],"(SLAM).":[51],"A":[52,97],"test":[54],"was":[55],"carried":[56],"out":[57],"using":[58],"harvester":[60,174],"with":[61,109],"laser":[63],"scanner":[64],"global":[67],"navigation":[68],"satellite":[69],"system":[70],"(GNSS)":[71],"performing":[72],"thinning":[74],"over":[75],"520":[77],"m":[78,154,164],"strip":[79,157],"route.":[80],"Two":[81],"SLAM":[82,89,99],"methods":[83,146],"are":[84,143],"used:":[85],"The":[86,115],"proposed":[87],"(sSLAM)":[90],"standard":[93],"method,":[94],"LeGO-LOAM":[95],"(LLOAM).":[96],"generic":[98],"post-processing":[100],"method":[101,117],"presented,":[103],"improves":[105],"the":[106,124,131,156,173,188],"odometric":[107,160],"accuracy":[108,161],"small":[111],"additional":[112],"processing":[113],"cost.":[114],"sSLAM":[116,140],"uses":[118],"only":[119],"centers,":[122],"reducing":[123],"allocated":[125],"memory":[126],"to":[127,179],"approximately":[128],"1%":[129],"total":[132],"PC":[133],"size.":[134],"comparisons":[138],"between":[139],"LLOAM":[142],"presented.":[144],"Both":[145],"show":[147],"85%":[148],"agreement":[149],"in":[150],"within":[152],"15":[153],"road":[158],"0.5":[163],"per":[165],"100":[166],"m.":[167],"Accuracy":[168],"evaluated":[170],"by":[171,182],"comparing":[172],"derived":[176],"through":[177],"odometry":[178],"locations":[180],"collected":[181],"GNSS":[184],"receiver":[185],"mounted":[186],"on":[187],"harvester.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2020-12-21T00:00:00"}
