{"id":"https://openalex.org/W2799339340","doi":"https://doi.org/10.3390/s18051493","title":"Real-Time Large-Scale Dense Mapping with Surfels","display_name":"Real-Time Large-Scale Dense Mapping with Surfels","publication_year":2018,"publication_date":"2018-05-09","ids":{"openalex":"https://openalex.org/W2799339340","doi":"https://doi.org/10.3390/s18051493","mag":"2799339340","pmid":"https://pubmed.ncbi.nlm.nih.gov/29747450"},"language":"en","primary_location":{"id":"doi:10.3390/s18051493","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18051493","pdf_url":"https://www.mdpi.com/1424-8220/18/5/1493/pdf?version=1527151266","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/18/5/1493/pdf?version=1527151266","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031094760","display_name":"Xingyin Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xingyin Fu","raw_affiliation_strings":["Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China","Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","The Key Lab of Image Understanding and Computer Vision, Shenyang 110016, China","University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China","institution_ids":[]},{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"The Key Lab of Image Understanding and Computer Vision, Shenyang 110016, China","institution_ids":[]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111579283","display_name":"Feng Zhu","orcid":"https://orcid.org/0000-0003-4657-7916"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Zhu","raw_affiliation_strings":["Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China","Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","The Key Lab of Image Understanding and Computer Vision, Shenyang 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China","institution_ids":[]},{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"The Key Lab of Image Understanding and Computer Vision, Shenyang 110016, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048288018","display_name":"Qingxiao Wu","orcid":"https://orcid.org/0009-0003-3725-4450"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingxiao Wu","raw_affiliation_strings":["Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China","Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","The Key Lab of Image Understanding and Computer Vision, Shenyang 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China","institution_ids":[]},{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"The Key Lab of Image Understanding and Computer Vision, Shenyang 110016, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050004031","display_name":"Yunlei Sun","orcid":"https://orcid.org/0000-0003-3745-6899"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunlei Sun","raw_affiliation_strings":["Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China","Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","The Key Lab of Image Understanding and Computer Vision, Shenyang 110016, China","University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China","institution_ids":[]},{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"The Key Lab of Image Understanding and Computer Vision, Shenyang 110016, China","institution_ids":[]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101785749","display_name":"Rongrong Lu","orcid":"https://orcid.org/0000-0001-6878-4049"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongrong Lu","raw_affiliation_strings":["Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China","Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","The Key Lab of Image Understanding and Computer Vision, Shenyang 110016, China","University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China","institution_ids":[]},{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"The Key Lab of Image Understanding and Computer Vision, Shenyang 110016, China","institution_ids":[]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076524203","display_name":"Ruigang Yang","orcid":"https://orcid.org/0000-0001-5296-6307"},"institutions":[{"id":"https://openalex.org/I4210129579","display_name":"National Engineering Laboratory of Deep Learning Technology and Application","ror":"https://ror.org/03z8p5796","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129579"]},{"id":"https://openalex.org/I98301712","display_name":"Baidu (China)","ror":"https://ror.org/03vs3wt56","country_code":"CN","type":"company","lineage":["https://openalex.org/I98301712"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruigang Yang","raw_affiliation_strings":["Baidu Inc., Beijing 100193, China","National Engineering Laboratory of Deep Learning Technology and Application, Beijing 100193, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu Inc., Beijing 100193, China","institution_ids":["https://openalex.org/I98301712"]},{"raw_affiliation_string":"National Engineering Laboratory of Deep Learning Technology and Application, Beijing 100193, China","institution_ids":["https://openalex.org/I4210129579"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5031094760"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4210165038"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":16.8407,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98404863,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"18","issue":"5","first_page":"1493","last_page":"1493"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9998999834060669,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9993000030517578,"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/computer-science","display_name":"Computer science","score":0.6747509241104126},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6242102980613708},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5591186881065369},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5332446098327637},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.5049052834510803},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.48038774728775024},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.43014898896217346},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.41434380412101746},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3267766535282135},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20280739665031433},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19715610146522522},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.12887200713157654}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6747509241104126},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6242102980613708},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5591186881065369},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5332446098327637},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.5049052834510803},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.48038774728775024},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.43014898896217346},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.41434380412101746},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3267766535282135},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20280739665031433},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19715610146522522},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.12887200713157654},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s18051493","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18051493","pdf_url":"https://www.mdpi.com/1424-8220/18/5/1493/pdf?version=1527151266","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:29747450","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29747450","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:5f92f12e89534b6b8cb1a0a9e9a9d5f2","is_oa":true,"landing_page_url":"https://doaj.org/article/5f92f12e89534b6b8cb1a0a9e9a9d5f2","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":"Sensors, Vol 18, Iss 5, p 1493 (2018)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:4940453","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5981467","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/18/5/1493/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s18051493","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":"Sensors; Volume 18; Issue 5; Pages: 1493","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s18051493","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18051493","pdf_url":"https://www.mdpi.com/1424-8220/18/5/1493/pdf?version=1527151266","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7538985151","display_name":null,"funder_award_id":"U1713216","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2799339340.pdf","grobid_xml":"https://content.openalex.org/works/W2799339340.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1625949922","https://openalex.org/W1905829557","https://openalex.org/W1965851203","https://openalex.org/W1972671602","https://openalex.org/W1987648924","https://openalex.org/W1989484209","https://openalex.org/W2013708313","https://openalex.org/W2021851106","https://openalex.org/W2021930164","https://openalex.org/W2049981393","https://openalex.org/W2058535340","https://openalex.org/W2061107211","https://openalex.org/W2064451896","https://openalex.org/W2065906272","https://openalex.org/W2071260790","https://openalex.org/W2071398263","https://openalex.org/W2071906076","https://openalex.org/W2091226544","https://openalex.org/W2091790851","https://openalex.org/W2099940712","https://openalex.org/W2126457740","https://openalex.org/W2143769815","https://openalex.org/W2151290401","https://openalex.org/W2152864241","https://openalex.org/W2160547335","https://openalex.org/W2220260929","https://openalex.org/W2250172176","https://openalex.org/W2325034626","https://openalex.org/W2336961836","https://openalex.org/W2342437324","https://openalex.org/W2520105578","https://openalex.org/W2527142681","https://openalex.org/W2535547924","https://openalex.org/W2593174349","https://openalex.org/W2606794968","https://openalex.org/W2744724495","https://openalex.org/W2774270371","https://openalex.org/W2793523933","https://openalex.org/W2796916234","https://openalex.org/W2962779768","https://openalex.org/W2963517005","https://openalex.org/W2963591054","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W4243493583","https://openalex.org/W4246818198","https://openalex.org/W6637636807","https://openalex.org/W6677830229"],"related_works":["https://openalex.org/W4229046684","https://openalex.org/W3005775996","https://openalex.org/W2030712947","https://openalex.org/W3126660769","https://openalex.org/W3180107049","https://openalex.org/W3112057822","https://openalex.org/W2587778884","https://openalex.org/W4287552122","https://openalex.org/W3011060674","https://openalex.org/W4200233996"],"abstract_inverted_index":{"Real-time":[0],"dense":[1,22,34,45,96,255],"mapping":[2,23,35,97,256],"systems":[3,36],"have":[4],"been":[5],"developed":[6],"since":[7],"the":[8,51,55,63,66,74,77,81,95,121,127,131,138,152,162,176,189,192,208,252],"birth":[9],"of":[10,65,76,165,188],"consumer":[11],"RGB-D":[12,100],"cameras.":[13],"Currently,":[14],"there":[15],"are":[16,102,124,145,194,205],"two":[17,92],"commonly":[18],"used":[19],"models":[20],"in":[21,80,94,114,137,149,191],"systems:":[24],"truncated":[25],"signed":[26],"distance":[27],"function":[28],"(TSDF)":[29],"and":[30,117,161,174,186,230],"surfel.":[31],"The":[32,43,99,109,134,184,234],"state-of-the-art":[33,254],"usually":[37],"work":[38],"fine":[39],"with":[40,68,207,215,227],"small-sized":[41],"regions.":[42],"generated":[44],"surface":[46,217,240],"may":[47],"be":[48,156],"unsatisfactory":[49],"around":[50],"loop":[52,172,231],"closures":[53,173],"when":[54,73,141],"system":[56,67,167,181,228,248],"tracking":[57,182],"drift":[58],"grows":[59],"large.":[60,84],"In":[61,85,211],"addition,":[62],"efficiency":[64],"surfel":[69,107],"model":[70,78],"slows":[71],"down":[72],"number":[75],"points":[79],"map":[82,129,140,193],"becomes":[83],"this":[86],"paper,":[87],"we":[88,219],"propose":[89,220],"to":[90,130,179,213],"use":[91],"maps":[93],"system.":[98],"images":[101],"integrated":[103],"into":[104],"a":[105,221],"local":[106,128,139],"map.":[108,133],"old":[110],"surfels":[111,136,190],"that":[112,154,203,245],"reconstructed":[113,157],"former":[115],"times":[116],"far":[118],"away":[119],"from":[120,126],"camera":[122],"frustum":[123],"moved":[125],"global":[132],"updated":[135,209],"every":[142],"frame":[143,163],"arrives":[144],"kept":[146],"bounded.":[147],"Therefore,":[148],"our":[150,166,246],"system,":[151],"scene":[153],"can":[155],"is":[158],"very":[159],"large,":[160],"rate":[164],"remains":[168],"high.":[169],"We":[170],"detect":[171],"optimize":[175],"pose":[177],"graph":[178,201],"distribute":[180],"drift.":[183],"positions":[185],"normals":[187],"also":[195],"corrected":[196],"using":[197],"an":[198],"embedded":[199],"deformation":[200],"so":[202],"they":[204],"consistent":[206],"poses.":[210],"order":[212],"deal":[214],"large":[216],"deformations,":[218],"new":[222,236],"method":[223,237],"for":[224],"constructing":[225],"constraints":[226],"trajectories":[229],"closure":[232],"keyframes.":[233],"proposed":[235],"stabilizes":[238],"large-scale":[239],"deformation.":[241],"Experimental":[242],"results":[243],"show":[244],"novel":[247],"behaves":[249],"better":[250],"than":[251],"prior":[253],"systems.":[257]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}