{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T02:24:07Z","timestamp":1771467847066,"version":"3.50.1"},"reference-count":50,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T00:00:00Z","timestamp":1585699200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T00:00:00Z","timestamp":1585699200000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T00:00:00Z","timestamp":1585699200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T00:00:00Z","timestamp":1585699200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100015599","name":"Toyota Research Institute","doi-asserted-by":"crossref","award":["N021515"],"award-info":[{"award-number":["N021515"]}],"id":[{"id":"10.13039\/100015599","id-type":"DOI","asserted-by":"crossref"}]},{"name":"NSF","award":["1808051"],"award-info":[{"award-number":["1808051"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2020,4]]},"DOI":"10.1109\/lra.2020.2965390","type":"journal-article","created":{"date-parts":[[2020,1,9]],"date-time":"2020-01-09T20:59:18Z","timestamp":1578603558000},"page":"790-797","source":"Crossref","is-referenced-by-count":73,"title":["Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping"],"prefix":"10.1109","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0911-8032","authenticated-orcid":false,"given":"Lu","family":"Gan","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9599-931X","authenticated-orcid":false,"given":"Ray","family":"Zhang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7586-0142","authenticated-orcid":false,"given":"Jessy W.","family":"Grizzle","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9989-4942","authenticated-orcid":false,"given":"Ryan M.","family":"Eustice","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4734-4295","authenticated-orcid":false,"given":"Maani","family":"Ghaffari","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980567"},{"key":"ref38","first-page":"5","article-title":"ROS: An open-source robot operating system","volume":"3","author":"quigley","year":"0","journal-title":"ICRA Workshop on Open Source Software"},{"key":"ref33","doi-asserted-by":"crossref","first-page":"325","DOI":"10.1007\/978-3-319-60916-4_19","article-title":"Bayesian learning for safe high-speed navigation in unknown environments","author":"richter","year":"2018","journal-title":"Robot Research"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487212"},{"key":"ref31","first-page":"2546","article-title":"Nonparametric Bayesian inference on multivariate exponential families","author":"vega-brown","year":"0","journal-title":"Proc Adv Neural Inf Process Syst Conf"},{"key":"ref30","first-page":"9297","article-title":"SemanticKITTI: A dataset for semantic scene understanding of LiDAR sequences","author":"behley","year":"0","journal-title":"Proc IEEE Int Conf Comput Vision"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919844575"},{"key":"ref36","first-page":"1936","article-title":"A sparse covariance function for exact Gaussian process inference in large datasets","author":"melkumyan","year":"0","journal-title":"Proc Int Joint Conf Artif Intell"},{"key":"ref35","article-title":"Mapping with mobile robots","author":"h\u00e4hnel","year":"2005"},{"key":"ref34","first-page":"829","article-title":"Bayesian generalized kernel inference for terrain traversability mapping","author":"shan","year":"0","journal-title":"Proc Conf Robot Learn"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989538"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.269"},{"key":"ref29","first-page":"1","article-title":"SuMa++: Efficient LiDAR-based semantic SLAM","author":"chen","year":"0","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087096"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1985.1087316"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989356"},{"key":"ref22","article-title":"Gaussian processes semantic map representation","author":"jadidi","year":"2017","journal-title":"arXiv 1707 01532"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2912487"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241816"},{"key":"ref23","article-title":"Sparse Bayesian inference for dense semantic mapping","author":"gan","year":"2017","journal-title":"arXiv 1709 07973"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630632"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696884"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.050"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385983"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2013.180"},{"key":"ref40","first-page":"25","article-title":"Efficient large-scale stereo matching","author":"geiger","year":"0","journal-title":"Proc Asian Conf Comput Vis"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-016-0201-x"},{"key":"ref13","first-page":"703","article-title":"Joint semantic segmentation and 3D reconstruction from monocular video","author":"kundu","year":"0","journal-title":"Proc Eur Conf Comput Vision"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911421039"},{"key":"ref15","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1007\/978-3-319-07488-7_22","article-title":"GPmap: A unified framework for robotic mapping based on sparse Gaussian processes","author":"kim","year":"2015","journal-title":"Field Service Robot"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907754"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487232"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916684382"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-017-9668-3"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.08.001"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9321-0"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.12.006"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.917001"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139442"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7138983"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2009.5206848"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202212"},{"key":"ref46","article-title":"Joint 2D-3D-semantic data for indoor scene understanding","author":"armeni","year":"2017","journal-title":"arXiv 1702 01105"},{"key":"ref45","first-page":"1","article-title":"RangeNet++: Fast and accurate LiDAR semantic segmentation","author":"milioto","year":"0","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2018.8451495"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915614638"},{"key":"ref42","article-title":"Multi-scale context aggregation by dilated convolutions","author":"yu","year":"2015","journal-title":"arXiv 1511 07122"},{"key":"ref41","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"ORB-SLAM: A versatile and accurate monocular SLAM system","volume":"31","author":"mur-artal","year":"2015","journal-title":"IEEE Trans Robot"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.016"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2012.120"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/7083369\/8932682\/8954837-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/8932682\/08954837.pdf?arnumber=8954837","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T17:32:53Z","timestamp":1651080773000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8954837\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,4]]},"references-count":50,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2020.2965390","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,4]]}}}