{"id":"https://openalex.org/W1975719297","doi":"https://doi.org/10.1017/s026357470001821x","title":"A vision system for mobile robot navigation","display_name":"A vision system for mobile robot navigation","publication_year":1994,"publication_date":"1994-01-01","ids":{"openalex":"https://openalex.org/W1975719297","doi":"https://doi.org/10.1017/s026357470001821x","mag":"1975719297"},"language":"en","primary_location":{"id":"doi:10.1017/s026357470001821x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470001821x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"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/A5033129418","display_name":"M. Elarbi Boudihir","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210110792","display_name":"Centre de Recherche en Automatique de Nancy","ror":"https://ror.org/022r5hc56","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210099203","https://openalex.org/I4210100260","https://openalex.org/I4210110792","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Elarbi Boudihir","raw_affiliation_strings":["CRAN-INPL, CNRS URA 821, 2, Avenue de la Foret de Haye, Vandoeuvre-les-Nancy 54516 Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRAN-INPL, CNRS URA 821, 2, Avenue de la Foret de Haye, Vandoeuvre-les-Nancy 54516 Cedex, France","institution_ids":["https://openalex.org/I4210110792","https://openalex.org/I90183372","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073713641","display_name":"Michel Dufaut","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210110792","display_name":"Centre de Recherche en Automatique de Nancy","ror":"https://ror.org/022r5hc56","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210099203","https://openalex.org/I4210100260","https://openalex.org/I4210110792","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Dufaut","raw_affiliation_strings":["CRAN-INPL, CNRS URA 821, 2, Avenue de la Foret de Haye, Vandoeuvre-les-Nancy 54516 Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRAN-INPL, CNRS URA 821, 2, Avenue de la Foret de Haye, Vandoeuvre-les-Nancy 54516 Cedex, France","institution_ids":["https://openalex.org/I4210110792","https://openalex.org/I90183372","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084197715","display_name":"R. Husson","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210110792","display_name":"Centre de Recherche en Automatique de Nancy","ror":"https://ror.org/022r5hc56","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210099203","https://openalex.org/I4210100260","https://openalex.org/I4210110792","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"R. Husson","raw_affiliation_strings":["CRAN-INPL, CNRS URA 821, 2, Avenue de la Foret de Haye, Vandoeuvre-les-Nancy 54516 Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRAN-INPL, CNRS URA 821, 2, Avenue de la Foret de Haye, Vandoeuvre-les-Nancy 54516 Cedex, France","institution_ids":["https://openalex.org/I4210110792","https://openalex.org/I90183372","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":92.9205,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.99779301,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":"1","first_page":"77","last_page":"89"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7185118198394775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6879549622535706},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6680585145950317},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.6560604572296143},{"id":"https://openalex.org/keywords/hough-transform","display_name":"Hough transform","score":0.6237133145332336},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6092742085456848},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.596114456653595},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5887163877487183},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5003669261932373},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.49280884861946106},{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.4689673185348511},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4502869248390198},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.44825008511543274},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2292211353778839},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2243865728378296},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19498786330223083}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7185118198394775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6879549622535706},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6680585145950317},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.6560604572296143},{"id":"https://openalex.org/C200518788","wikidata":"https://www.wikidata.org/wiki/Q195076","display_name":"Hough transform","level":3,"score":0.6237133145332336},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6092742085456848},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.596114456653595},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5887163877487183},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5003669261932373},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.49280884861946106},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.4689673185348511},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4502869248390198},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.44825008511543274},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2292211353778839},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2243865728378296},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19498786330223083},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357470001821x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470001821x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7799999713897705,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1909262542","https://openalex.org/W2069239883","https://openalex.org/W2076833549","https://openalex.org/W2107011598","https://openalex.org/W2124244430","https://openalex.org/W2131959928","https://openalex.org/W2137939784","https://openalex.org/W2148323578","https://openalex.org/W2155054718","https://openalex.org/W2166967166","https://openalex.org/W6639787783"],"related_works":["https://openalex.org/W2351812651","https://openalex.org/W2382313969","https://openalex.org/W2965558985","https://openalex.org/W2497892377","https://openalex.org/W2896858210","https://openalex.org/W2616297316","https://openalex.org/W2260064841","https://openalex.org/W2681895808","https://openalex.org/W2377333014","https://openalex.org/W2772261044"],"abstract_inverted_index":{"A":[0],"new":[1],"vision":[2,221],"system":[3,40],"architecture":[4],"has":[5,164],"been":[6,165],"developed":[7],"to":[8,32,72,98,120,127,152,172,191,209],"support":[9],"the":[10,58,62,69,73,77,81,87,95,100,110,115,121,131,137,144,147,162,183,193,197,204,216,220],"visual":[11,156],"navigation":[12],"of":[13,42,76,80,117,139,146,161,219],"an":[14,168],"autonomous":[15,52],"mobile":[16],"robot.":[17,78],"This":[18,104,200],"robot":[19,179],"is":[20,84,92,170,189,215],"primarily":[21],"intended":[22],"for":[23],"urban":[24],"park":[25],"inspection,":[26],"so":[27],"it":[28],"should":[29],"be":[30],"able":[31],"move":[33],"in":[34,51,107,125],"a":[35,47,158,174,211],"complex":[36],"unstructured":[37],"environment.":[38],"The":[39,186],"consists":[41],"various":[43],"modules":[44],"each":[45,66],"ensuring":[46],"specific":[48],"task":[49],"involved":[50],"navigation.":[53],"Task":[54],"coordination":[55],"focuses":[56],"on":[57,94,155,178],"central":[59],"module":[60,67,90,105],"called":[61],"supervisor":[63],"which":[64,91,113,135,214],"triggers":[65],"at":[68,143],"time":[70,83],"appropriate":[71],"current":[74],"situation":[75],"Most":[79],"processing":[82,118,138],"spent":[85],"with":[86],"scene":[88,175,188,212],"exploration":[89],"based":[93,177],"Hough":[96],"transform":[97],"extract":[99],"dominant":[101],"straight":[102],"features.":[103],"operates":[106],"two":[108],"modes:":[109],"initial":[111],"phase":[112],"forms":[114],"type":[116],"applied":[119],"first":[122],"image":[123],"acquired":[124,205],"order":[126,151],"initiate":[128],"navigation,":[129],"and":[130,167,206],"continuous":[132],"following":[133],"mode":[134],"ensures":[136],"subsequent":[140],"images":[141],"taken":[142],"end":[145],"blind":[148],"distance.":[149],"In":[150],"rely":[153],"less":[154],"data,":[157],"detailed":[159],"map":[160],"environment":[163],"established,":[166],"algorithm":[169],"used":[171,190],"make":[173],"prediction":[176],"position":[180],"provided":[181],"by":[182,196],"localization":[184],"system.":[185,222],"predicted":[187,207],"validate":[192],"objects":[194],"detected":[195],"knowledge":[198,201],"base.":[199],"base":[202],"uses":[203],"data":[208],"construct":[210],"model":[213],"main":[217],"element":[218]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}