{"id":"https://openalex.org/W2138282218","doi":"https://doi.org/10.1109/tro.2004.837241","title":"Robot steering with spectral image information","display_name":"Robot steering with spectral image information","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2138282218","doi":"https://doi.org/10.1109/tro.2004.837241","mag":"2138282218"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2004.837241","doi":"https://doi.org/10.1109/tro.2004.837241","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2004.837241","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-b","cwts-core","dongbi-a","jufo-3","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110180732","display_name":"Christopher M. Ackerman","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Ackerman","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, USA","[Comput. Sci. Dept., Univ. of Southern California, Los Angeles, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"[Comput. Sci. Dept., Univ. of Southern California, Los Angeles, CA, USA]","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054494771","display_name":"Laurent Itti","orcid":"https://orcid.org/0000-0002-0168-2977","observed_orcids":["https://orcid.org/0000-0002-0168-2977"]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. Itti","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, USA","[Comput. Sci. Dept., Univ. of Southern California, Los Angeles, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"[Comput. Sci. Dept., Univ. of Southern California, Los Angeles, CA, USA]","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":3.0873,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.91091605,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"21","issue":"2","first_page":"247","last_page":"251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7318999767303467,"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":0.7318999767303467,"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":0.11010000109672546,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.04039999842643738,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/robot-steering","display_name":"robot steering","score":0.8050000071525574},{"id":"https://openalex.org/keywords/spectral-image-analysis","display_name":"spectral image analysis","score":0.8109999895095825},{"id":"https://openalex.org/keywords/autonomous-navigation","display_name":"autonomous navigation","score":0.6269999742507935},{"id":"https://openalex.org/keywords/mobile-robots","display_name":"mobile robots","score":0.7390000224113464},{"id":"https://openalex.org/keywords/obstacle-detection","display_name":"obstacle detection","score":0.6690000295639038},{"id":"https://openalex.org/keywords/path-following","display_name":"path following","score":0.6019999980926514},{"id":"https://openalex.org/keywords/depth-estimation","display_name":"depth estimation","score":0.4959999918937683},{"id":"https://openalex.org/keywords/outdoor-environments","display_name":"outdoor environments","score":0.4399999976158142}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7479941844940186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7277472615242004},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6895387768745422},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.661078691482544},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6038720607757568},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5814054608345032},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.530471682548523},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4786432981491089},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.47450563311576843},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4522625803947449},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.24700927734375},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11922770738601685},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2004.837241","doi":"https://doi.org/10.1109/tro.2004.837241","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2004.837241","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-b","cwts-core","dongbi-a","jufo-3","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320719","display_name":"Department of Science and Technology, Ministry of Science and Technology, India","ror":"https://ror.org/0101xrq71"},{"id":"https://openalex.org/F4320323900","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W14634083","https://openalex.org/W199912768","https://openalex.org/W1248929600","https://openalex.org/W1566135517","https://openalex.org/W1576399236","https://openalex.org/W1627995145","https://openalex.org/W1808792747","https://openalex.org/W1872213290","https://openalex.org/W1963864613","https://openalex.org/W1966442630","https://openalex.org/W1969258103","https://openalex.org/W2006500012","https://openalex.org/W2027833538","https://openalex.org/W2043642041","https://openalex.org/W2049510178","https://openalex.org/W2051228319","https://openalex.org/W2054802006","https://openalex.org/W2069239883","https://openalex.org/W2081672701","https://openalex.org/W2095975937","https://openalex.org/W2101131351","https://openalex.org/W2101364567","https://openalex.org/W2104713750","https://openalex.org/W2108992228","https://openalex.org/W2115029815","https://openalex.org/W2116360511","https://openalex.org/W2116565096","https://openalex.org/W2121386037","https://openalex.org/W2122710056","https://openalex.org/W2126051390","https://openalex.org/W2127024391","https://openalex.org/W2128272608","https://openalex.org/W2138477671","https://openalex.org/W2138874178","https://openalex.org/W2142768220","https://openalex.org/W2144764737","https://openalex.org/W2150839555","https://openalex.org/W2150945506","https://openalex.org/W2155054718","https://openalex.org/W2162951019","https://openalex.org/W2164638305","https://openalex.org/W2170161511","https://openalex.org/W2207961951","https://openalex.org/W2212384750","https://openalex.org/W2613501150","https://openalex.org/W4253933482","https://openalex.org/W6960125083"],"related_works":["https://openalex.org/W2092447915","https://openalex.org/W2579341751","https://openalex.org/W1753311001","https://openalex.org/W2185381025","https://openalex.org/W2121896549","https://openalex.org/W1996979285","https://openalex.org/W6903828915","https://openalex.org/W2151723747","https://openalex.org/W3081469330","https://openalex.org/W6998714375"],"abstract_inverted_index":{"We":[0,31,58,79],"introduce":[1],"a":[2,11,64,70,76,93,97,106,114],"method":[3],"for":[4,88],"rapidly":[5],"classifying":[6],"visual":[7,66],"scenes":[8,38],"globally":[9],"along":[10],"small":[12],"number":[13],"of":[14,19,22,29,41,116],"navigationally":[15],"relevant":[16],"dimensions:":[17],"depth":[18],"scene,":[20],"presence":[21],"obstacles,":[23],"path":[24,86],"versus":[25],"nonpath,":[26],"and":[27,83,96],"orientation":[28],"path.":[30],"show":[32],"that":[33],"the":[34],"algorithm":[35],"reliably":[36],"classifies":[37],"in":[39,113],"terms":[40],"these":[42],"high-level":[43],"features,":[44],"based":[45],"on":[46,69],"global":[47],"or":[48],"coarsely":[49],"localized":[50],"spectral":[51],"analysis":[52,61],"analogous":[53],"to":[54,62,109],"early-stage":[55],"biological":[56],"vision.":[57],"use":[59],"this":[60,103],"implement":[63],"real-time":[65],"navigational":[67],"system":[68],"mobile":[71],"robot,":[72],"trained":[73],"online":[74],"by":[75],"human":[77],"operator.":[78],"demonstrate":[80],"successful":[81],"training":[82],"subsequent":[84],"autonomous":[85,110],"following":[87],"two":[89],"different":[90],"outdoor":[91],"environments,":[92],"running":[94],"track":[95],"concrete":[98],"trail.":[99],"Our":[100],"success":[101],"with":[102],"technique":[104],"suggests":[105],"general":[107],"applicability":[108],"robot":[111],"navigation":[112],"variety":[115],"environments.":[117]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-10-29T09:56:32.521200","created_date":"2016-06-24T00:00:00"}