{"id":"https://openalex.org/W193620917","doi":null,"title":"Sistema de navegaci\u00f3n monocular para robots m\u00f3viles en ambientes interiores/exteriores","display_name":"Sistema de navegaci\u00f3n monocular para robots m\u00f3viles en ambientes interiores/exteriores","publication_year":2013,"publication_date":"2013-01-01","ids":{"openalex":"https://openalex.org/W193620917","mag":"193620917"},"language":"es","primary_location":{"id":"pmh:oai:RDI UBA:aextesis:tesis_n5398_DeCristoforis_oai","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.12110/tesis_n5398_DeCristoforis","pdf_url":null,"source":{"id":"https://openalex.org/S4306402562","display_name":"Repositorio Digital Institucional de la Universidad de Buenos Aires (Universidad de Buenos Aires)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I24354313","host_organization_name":"Universidad de Buenos Aires","host_organization_lineage":["https://openalex.org/I24354313"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/doctoralThesis"},"volume":null,"type":"dissertation","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/20.500.12110/tesis_n5398_DeCristoforis","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062483093","display_name":"Pablo De Crist\u00f3foris","orcid":"https://orcid.org/0000-0002-7551-7720","observed_orcids":["https://orcid.org/0000-0002-7551-7720"]},"institutions":[{"id":"https://openalex.org/I24354313","display_name":"Universidad de Buenos Aires","ror":"https://ror.org/0081fs513","country_code":"AR","type":"education","lineage":["https://openalex.org/I24354313"]}],"countries":["AR"],"is_corresponding":true,"raw_author_name":"Pablo De Crist\u00f3foris","raw_affiliation_strings":["[University of Buenos Aires]"],"raw_orcid":"https://orcid.org/0000-0002-7551-7720","affiliations":[{"raw_affiliation_string":"[University of Buenos Aires]","institution_ids":["https://openalex.org/I24354313"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5062483093"],"corresponding_institution_ids":["https://openalex.org/I24354313"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.0,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robots","display_name":"mobile robots","score":0.7409999966621399},{"id":"https://openalex.org/keywords/autonomous-navigation","display_name":"autonomous navigation","score":0.8709999918937683},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"visual odometry","score":0.5720000267028809},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"image segmentation","score":0.7480000257492065},{"id":"https://openalex.org/keywords/visual-markers","display_name":"visual markers","score":0.7639999985694885},{"id":"https://openalex.org/keywords/hybrid-navigation","display_name":"hybrid navigation","score":0.5289999842643738},{"id":"https://openalex.org/keywords/indoor-and-outdoor-environments","display_name":"indoor and outdoor environments","score":0.7260000109672546},{"id":"https://openalex.org/keywords/illumination-variation","display_name":"illumination variation","score":0.3490000069141388}],"concepts":[{"id":"https://openalex.org/C15708023","wikidata":"https://www.wikidata.org/wiki/Q80083","display_name":"Humanities","level":1,"score":0.8788884878158569},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.4913384020328522},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.38481417298316956},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.35711967945098877},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11422041058540344}],"mesh":[],"locations_count":6,"locations":[{"id":"pmh:oai:RDI UBA:aextesis:tesis_n5398_DeCristoforis_oai","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.12110/tesis_n5398_DeCristoforis","pdf_url":null,"source":{"id":"https://openalex.org/S4306402562","display_name":"Repositorio Digital Institucional de la Universidad de Buenos Aires (Universidad de Buenos Aires)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I24354313","host_organization_name":"Universidad de Buenos Aires","host_organization_lineage":["https://openalex.org/I24354313"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/doctoralThesis"},{"id":"pmh:oai:americanae.aecid.es:3072388","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12110/tesis_n5398_DeCristoforis","pdf_url":null,"source":{"id":"https://openalex.org/S4306400786","display_name":"Americanae (AECID Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"reponame:Biblioteca Digital (UBA-FCEN)","raw_type":"http://purl.org/coar/resource_type/c_db06"},{"id":"pmh:snrd:Tesis_5398_DeCristoforis","doi":null,"is_oa":true,"landing_page_url":"http://digital.bl.fcen.uba.ar/gsdl-282/cgi-bin/library.cgi?a=d&amp;c=tesis&amp;d=Tesis_5398_DeCristoforis","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"reponame:Biblioteca Digital (UBA-FCEN)","raw_type":"info:eu-repo/semantics/doctoralThesis"},{"id":"pmh:tesis:tesis_n5398_DeCristoforis","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.12110/tesis_n5398_DeCristoforis","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"reponame:Biblioteca Digital (UBA-FCEN)","raw_type":"http://purl.org/coar/resource_type/c_db06"},{"id":"pmh:oai:RDI UBA:aextesis:Tesis_5398_DeCristoforis_oai","doi":null,"is_oa":false,"landing_page_url":"http://digital.bl.fcen.uba.ar/gsdl-282/cgi-bin/library.cgi?a=d&amp;c=tesis&amp;d=Tesis_5398_DeCristoforis","pdf_url":null,"source":{"id":"https://openalex.org/S4306402562","display_name":"Repositorio Digital Institucional de la Universidad de Buenos Aires (Universidad de Buenos Aires)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I24354313","host_organization_name":"Universidad de Buenos Aires","host_organization_lineage":["https://openalex.org/I24354313"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Tesis Doctoral"},{"id":"mag:193620917","doi":null,"is_oa":false,"landing_page_url":"https://bibliotecadigital.exactas.uba.ar/download/tesis/tesis_n5398_DeCristoforis.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:RDI UBA:aextesis:tesis_n5398_DeCristoforis_oai","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.12110/tesis_n5398_DeCristoforis","pdf_url":null,"source":{"id":"https://openalex.org/S4306402562","display_name":"Repositorio Digital Institucional de la Universidad de Buenos Aires (Universidad de Buenos Aires)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I24354313","host_organization_name":"Universidad de Buenos Aires","host_organization_lineage":["https://openalex.org/I24354313"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/doctoralThesis"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":145,"referenced_works":["https://openalex.org/W28678555","https://openalex.org/W39633190","https://openalex.org/W52279335","https://openalex.org/W70545738","https://openalex.org/W97351935","https://openalex.org/W102190310","https://openalex.org/W107139927","https://openalex.org/W120566300","https://openalex.org/W131069610","https://openalex.org/W157162179","https://openalex.org/W160562721","https://openalex.org/W186096846","https://openalex.org/W201193349","https://openalex.org/W250200347","https://openalex.org/W764065198","https://openalex.org/W1136193735","https://openalex.org/W1187244281","https://openalex.org/W1480528108","https://openalex.org/W1483307070","https://openalex.org/W1484387568","https://openalex.org/W1491719799","https://openalex.org/W1503861282","https://openalex.org/W1508404128","https://openalex.org/W1515234816","https://openalex.org/W1521785144","https://openalex.org/W1525064124","https://openalex.org/W1529132405","https://openalex.org/W1530325790","https://openalex.org/W1532362218","https://openalex.org/W1533496907","https://openalex.org/W1537857971","https://openalex.org/W1554769610","https://openalex.org/W1558232939","https://openalex.org/W1559906913","https://openalex.org/W1578380495","https://openalex.org/W1586085694","https://openalex.org/W1586173270","https://openalex.org/W1587957970","https://openalex.org/W1595410283","https://openalex.org/W1596812151","https://openalex.org/W1598666350","https://openalex.org/W1633983593","https://openalex.org/W1677409904","https://openalex.org/W1966253317","https://openalex.org/W1968053154","https://openalex.org/W1969999273","https://openalex.org/W1982596298","https://openalex.org/W1982718817","https://openalex.org/W1985683154","https://openalex.org/W1994870715","https://openalex.org/W1999478155","https://openalex.org/W2002745408","https://openalex.org/W2004835121","https://openalex.org/W2006368361","https://openalex.org/W2007079389","https://openalex.org/W2010258582","https://openalex.org/W2012630817","https://openalex.org/W2017062739","https://openalex.org/W2019394337","https://openalex.org/W2020977440","https://openalex.org/W2023516690","https://openalex.org/W2026573430","https://openalex.org/W2029143333","https://openalex.org/W2033819227","https://openalex.org/W2035510971","https://openalex.org/W2037912286","https://openalex.org/W2040821239","https://openalex.org/W2042243448","https://openalex.org/W2055626238","https://openalex.org/W2059478405","https://openalex.org/W2059681931","https://openalex.org/W2059735511","https://openalex.org/W2067191022","https://openalex.org/W2068755097","https://openalex.org/W2068878320","https://openalex.org/W2069612046","https://openalex.org/W2070109803","https://openalex.org/W2070574914","https://openalex.org/W2077712408","https://openalex.org/W2081518222","https://openalex.org/W2082991751","https://openalex.org/W2085261163","https://openalex.org/W2087050866","https://openalex.org/W2095204446","https://openalex.org/W2096901547","https://openalex.org/W2097856935","https://openalex.org/W2099574486","https://openalex.org/W2101648351","https://openalex.org/W2102145772","https://openalex.org/W2102802413","https://openalex.org/W2103393159","https://openalex.org/W2104511362","https://openalex.org/W2104866265","https://openalex.org/W2106533364","https://openalex.org/W2107145440","https://openalex.org/W2107667896","https://openalex.org/W2108753440","https://openalex.org/W2109749443","https://openalex.org/W2110357983","https://openalex.org/W2110946546","https://openalex.org/W2111308925","https://openalex.org/W2111691855","https://openalex.org/W2113286054","https://openalex.org/W2114083919","https://openalex.org/W2116647221","https://openalex.org/W2117228865","https://openalex.org/W2118020555","https://openalex.org/W2118688532","https://openalex.org/W2119605622","https://openalex.org/W2120353515","https://openalex.org/W2121926901","https://openalex.org/W2124386111","https://openalex.org/W2125518709","https://openalex.org/W2126120729","https://openalex.org/W2126177236","https://openalex.org/W2127426261","https://openalex.org/W2127578024","https://openalex.org/W2127723020","https://openalex.org/W2129443614","https://openalex.org/W2133003941","https://openalex.org/W2135619962","https://openalex.org/W2138361487","https://openalex.org/W2141584146","https://openalex.org/W2142924305","https://openalex.org/W2146365908","https://openalex.org/W2146881125","https://openalex.org/W2151103935","https://openalex.org/W2152671441","https://openalex.org/W2153852998","https://openalex.org/W2158505966","https://openalex.org/W2162098863","https://openalex.org/W2164406796","https://openalex.org/W2167061621","https://openalex.org/W2168031394","https://openalex.org/W2168210109","https://openalex.org/W2172117433","https://openalex.org/W2181500709","https://openalex.org/W2296147781","https://openalex.org/W2336416123","https://openalex.org/W2505763307","https://openalex.org/W2552885458","https://openalex.org/W2613501150","https://openalex.org/W2798909945","https://openalex.org/W2965720098","https://openalex.org/W3210232381"],"related_works":["https://openalex.org/W7002431676","https://openalex.org/W2998090249","https://openalex.org/W2530884111","https://openalex.org/W7055257183","https://openalex.org/W2916927447","https://openalex.org/W7064874925","https://openalex.org/W2557443408","https://openalex.org/W2932548029","https://openalex.org/W2259898974","https://openalex.org/W4308910662"],"abstract_inverted_index":{"Uno":[0],"de":[1,5,14,28,35,41,45,66,70,73,82,92,113,124,127,134,198,209,211,214,227,236,248,251,258,267,290,303,319],"los":[2,166,173,188,252],"desaf\u00edos":[3],"actuales":[4],"la":[6,26,221,228,249,310,320],"rob\u00f3tica":[7],"m\u00f3vil":[8,296],"es":[9,16,38,80,243,275],"alcanzar":[10,110],"el":[11,39,87,111,144,225,265,283,294,317],"mayor":[12],"grado":[13],"autonom\u00eda,":[15],"decir,":[17],"lograr":[18],"que":[19,121,151,298],"un":[20,29,42,118,148,156,178,199],"robot":[21,52,105,295],"desarrolle":[22],"sus":[23],"tareas":[24],"sin":[25],"necesidad":[27],"operador":[30],"humano.":[31],"El":[32,57,240],"objetivo":[33,112],"principal":[34],"este":[36,114,304],"trabajo":[37],"desarrollo":[40],"nuevo":[43],"sistema":[44,58,72,241],"navegaci\u00f3n":[46,128,229,259,321],"aut\u00f3nomo":[47],"basado":[48,181,201],"en":[49,54,86,106,132,139,182,202,231,234,323,325],"visi\u00f3n":[50,324],"para":[51,102,185,217,224,315],"m\u00f3viles":[53],"entornos":[55,326],"interiores/exteriores.":[56,328],"propuesto":[59],"utiliza":[60],"s\u00f3lo":[61],"una":[62,130,194],"c\u00e1mara":[63],"y":[64,98,136,165,184,196,238,245],"sensores":[65],"odometr\u00eda,":[67],"no":[68,246],"depende":[69],"ning\u00fan":[71],"localizaci\u00f3n":[74],"externo":[75],"o":[76,94],"infraestructura":[77],"similar.":[78],"Adem\u00e1s,":[79],"capaz":[81],"tratar":[83],"con":[84,288,293],"variaciones":[85],"ambiente":[88,145],"(por":[89],"ejemplo,":[90],"cambios":[91],"iluminaci\u00f3n":[93],"estaciones":[95],"del":[96,256,277,279,312],"a\u00f1o)":[97],"satisface":[99],"las":[100,159,215],"restricciones":[101],"guiar":[103],"al":[104],"tiempo":[107],"real.":[108],"Para":[109,142,171,281],"trabajo,":[115],"se":[116,146,176,192,260,299],"propone":[117],"enfoque":[119,313],"h\u00edbrido":[120,314],"hace":[122],"uso":[123],"dos":[125],"t\u00e9cnicas":[126],"visual:":[129],"basada":[131,138,230],"segmentaci\u00f3n":[133,183],"im\u00e1genes":[135,216],"otra":[137],"marcas":[140,203,232],"visuales.":[141,204],"representar":[143],"construye":[147],"mapa":[149],"topol\u00f3gico":[150],"puede":[152],"ser":[153],"interpretado":[154],"como":[155,270,292,301],"grafo,":[157],"donde":[158],"aristas":[160],"corresponden":[161],"a":[162,168],"caminos":[163,174],"navegables":[164],"nodos":[167],"espacios":[169,189],"abiertos.":[170],"recorrer":[172],"(aristas)":[175],"desarroll\u00f3":[177],"m\u00e9todo":[179,200,257,284],"original":[180],"navegar":[186],"por":[187],"abiertos":[190],"(nodos)":[191],"realiz\u00f3":[193],"mejora":[195],"adaptaci\u00f3n":[197],"Se":[205],"evaluaron":[206],"diversos":[207],"algoritmos":[208],"extracci\u00f3n":[210],"caracter\u00edsticas":[212],"distintivas":[213],"determinar":[218],"cu\u00e1l":[219],"representa":[220],"mejor":[222],"soluci\u00f3n":[223],"caso":[226],"visuales,":[233],"t\u00e9rminos":[235],"performance":[237],"repetibilidad.":[239],"desarrollado":[242],"robusto":[244],"requiere":[247],"calibraci\u00f3n":[250],"sensores.":[253],"La":[254],"convergencia":[255],"ha":[261],"demostrado":[262],"tanto":[263,287],"desde":[264],"punto":[266],"vista":[268],"te\u00f3rico":[269],"pr\u00e1ctico.":[271],"Su":[272],"complejidad":[273],"computacional":[274],"independiente":[276],"tama\u00f1o":[278],"entorno.":[280],"validar":[282],"realizamos":[285],"experiencias":[286],"sets":[289],"datos":[291],"ExaBot,":[297],"presenta":[300],"parte":[302],"trabajo.":[305],"Los":[306],"resultados":[307],"obtenidos":[308],"demuestran":[309],"viabilidad":[311],"abordar":[316],"problema":[318],"basa":[322],"complejos":[327]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}
