{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T11:21:51Z","timestamp":1779362511460,"version":"3.51.4"},"reference-count":28,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2022,9,9]],"date-time":"2022-09-09T00:00:00Z","timestamp":1662681600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Research Foundation of Korea (NRF)","award":["NRF-2020R1G1A1011096"],"award-info":[{"award-number":["NRF-2020R1G1A1011096"]}]},{"DOI":"10.13039\/501100003725","name":"the Korea government (MSIP; Ministry of Science, ICT &amp; Future Planning)","doi-asserted-by":"publisher","award":["NRF-2020R1G1A1011096"],"award-info":[{"award-number":["NRF-2020R1G1A1011096"]}],"id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes a novel method for occupancy map building using a mixture of Gaussian processes. Gaussian processes have proven to be highly flexible and accurate for a robotic occupancy mapping problem, yet the high computational complexity has been a critical barrier for large-scale applications. We consider clustering the data into small, manageable subsets and applying a mixture of Gaussian processes. One of the problems in clustering is that the number of groups is not known a priori, thus requiring inputs from experts. We propose two efficient clustering methods utilizing (1) a Dirichlet process and (2) geometrical information in the context of occupancy mapping. We will show that the Dirichlet process-based clustering can significantly speed up the training step of the Gaussian process and if geometrical features, such as line features, are available, they can further improve the clustering accuracy. We will provide simulation results, analyze the performance and demonstrate the benefits of the proposed methods.<\/jats:p>","DOI":"10.3390\/s22186832","type":"journal-article","created":{"date-parts":[[2022,9,13]],"date-time":"2022-09-13T04:05:41Z","timestamp":1663041941000},"page":"6832","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Efficient Clustering for Continuous Occupancy Mapping Using a Mixture of Gaussian Processes"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2891-7537","authenticated-orcid":false,"given":"Soohwan","family":"Kim","sequence":"first","affiliation":[{"name":"Department of Artificial Intelligence Software Technology, Sunmoon University, 70, Sunmoon-ro 221 beon-gil, Tangjeong-myeon, Asan-si 31460, Chungcheongnam-do, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4505-1103","authenticated-orcid":false,"given":"Jonghyuk","family":"Kim","sequence":"additional","affiliation":[{"name":"The Center of Excellence for Cybercrimes and Digital Forensics, Naif Arab University for Security Sciences, Riyadh 11452, Saudi Arabia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,9,9]]},"reference":[{"key":"ref_1","unstructured":"Moravec, H., and Elfes, A. 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