{"id":"https://openalex.org/W2131788998","doi":"https://doi.org/10.1017/s0263574712000252","title":"A monocular mobile robot reactive navigation approach based on the inverse perspective transformation","display_name":"A monocular mobile robot reactive navigation approach based on the inverse perspective transformation","publication_year":2012,"publication_date":"2012-05-22","ids":{"openalex":"https://openalex.org/W2131788998","doi":"https://doi.org/10.1017/s0263574712000252","mag":"2131788998"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574712000252","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000252","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/A5011783532","display_name":"Francisco Bonin\u2010Font","orcid":"https://orcid.org/0000-0003-1425-6907"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Francisco Bonin-Font","raw_affiliation_strings":["Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Balearic Islands, Spain. E-mails:","Department of mathematics and computer science, university of the balearic islands, palma, balearic islands, spain. e-mails: francisco.bonin@uib.es, antoni.burguera@uib.es, alberto.ortiz@uib.es an ...#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Balearic Islands, Spain. E-mails:","institution_ids":["https://openalex.org/I50441567"]},{"raw_affiliation_string":"Department of mathematics and computer science, university of the balearic islands, palma, balearic islands, spain. e-mails: francisco.bonin@uib.es, antoni.burguera@uib.es, alberto.ortiz@uib.es an ...#TAB#","institution_ids":["https://openalex.org/I50441567"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084621132","display_name":"Antoni Burguera","orcid":"https://orcid.org/0000-0003-2784-2307"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antoni Burguera","raw_affiliation_strings":["Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Balearic Islands, Spain. E-mails:","Department of mathematics and computer science, university of the balearic islands, palma, balearic islands, spain. e-mails: francisco.bonin@uib.es, antoni.burguera@uib.es, alberto.ortiz@uib.es an ...#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Balearic Islands, Spain. E-mails:","institution_ids":["https://openalex.org/I50441567"]},{"raw_affiliation_string":"Department of mathematics and computer science, university of the balearic islands, palma, balearic islands, spain. e-mails: francisco.bonin@uib.es, antoni.burguera@uib.es, alberto.ortiz@uib.es an ...#TAB#","institution_ids":["https://openalex.org/I50441567"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009268269","display_name":"Alberto Ortiz","orcid":"https://orcid.org/0000-0002-8253-7455"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alberto Ortiz","raw_affiliation_strings":["Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Balearic Islands, Spain. E-mails:","Department of mathematics and computer science, university of the balearic islands, palma, balearic islands, spain. e-mails: francisco.bonin@uib.es, antoni.burguera@uib.es, alberto.ortiz@uib.es an ...#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Balearic Islands, Spain. E-mails:","institution_ids":["https://openalex.org/I50441567"]},{"raw_affiliation_string":"Department of mathematics and computer science, university of the balearic islands, palma, balearic islands, spain. e-mails: francisco.bonin@uib.es, antoni.burguera@uib.es, alberto.ortiz@uib.es an ...#TAB#","institution_ids":["https://openalex.org/I50441567"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005962857","display_name":"Gabriel Oliver","orcid":"https://orcid.org/0000-0001-6910-1940"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Gabriel Oliver","raw_affiliation_strings":["Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Balearic Islands, Spain. E-mails:","Department of mathematics and computer science, university of the balearic islands, palma, balearic islands, spain. e-mails: francisco.bonin@uib.es, antoni.burguera@uib.es, alberto.ortiz@uib.es an ...#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of the Balearic Islands, Palma, Balearic Islands, Spain. E-mails:","institution_ids":["https://openalex.org/I50441567"]},{"raw_affiliation_string":"Department of mathematics and computer science, university of the balearic islands, palma, balearic islands, spain. e-mails: francisco.bonin@uib.es, antoni.burguera@uib.es, alberto.ortiz@uib.es an ...#TAB#","institution_ids":["https://openalex.org/I50441567"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5011783532"],"corresponding_institution_ids":["https://openalex.org/I50441567"],"apc_list":null,"apc_paid":null,"fwci":1.5902,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.86620968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"31","issue":"2","first_page":"225","last_page":"249"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9975000023841858,"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":0.8061431646347046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.773595929145813},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6334335207939148},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6266888380050659},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.6208324432373047},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.586226761341095},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5768739581108093},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5130049586296082},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.4989736080169678},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.489890992641449},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.43436944484710693},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.363581120967865},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18590304255485535}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8061431646347046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.773595929145813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6334335207939148},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6266888380050659},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.6208324432373047},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.586226761341095},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5768739581108093},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5130049586296082},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.4989736080169678},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.489890992641449},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.43436944484710693},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.363581120967865},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18590304255485535},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574712000252","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000252","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":[{"display_name":"Reduced inequalities","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1513732820","https://openalex.org/W1523381861","https://openalex.org/W1532362218","https://openalex.org/W1533496907","https://openalex.org/W1590697402","https://openalex.org/W1973629563","https://openalex.org/W1975559841","https://openalex.org/W1992989752","https://openalex.org/W2001034710","https://openalex.org/W2011754354","https://openalex.org/W2029143333","https://openalex.org/W2033819227","https://openalex.org/W2080516439","https://openalex.org/W2081547245","https://openalex.org/W2084134149","https://openalex.org/W2089662441","https://openalex.org/W2096909017","https://openalex.org/W2101648351","https://openalex.org/W2105723449","https://openalex.org/W2106173001","https://openalex.org/W2110794641","https://openalex.org/W2111308925","https://openalex.org/W2113906280","https://openalex.org/W2115677012","https://openalex.org/W2117291086","https://openalex.org/W2119605622","https://openalex.org/W2120883775","https://openalex.org/W2125409550","https://openalex.org/W2127739008","https://openalex.org/W2129142668","https://openalex.org/W2130103520","https://openalex.org/W2136929315","https://openalex.org/W2145023731","https://openalex.org/W2151103935","https://openalex.org/W2157825442","https://openalex.org/W2165852544","https://openalex.org/W2168015472","https://openalex.org/W2336416123","https://openalex.org/W3017143921","https://openalex.org/W4254300870","https://openalex.org/W6631707545"],"related_works":["https://openalex.org/W2073809416","https://openalex.org/W2145228184","https://openalex.org/W2373788374","https://openalex.org/W2348800404","https://openalex.org/W2077648827","https://openalex.org/W1961162662","https://openalex.org/W2090198653","https://openalex.org/W2886675269","https://openalex.org/W2146232918","https://openalex.org/W2782149710"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"presents":[3],"an":[4,24,96],"approach":[5],"to":[6,55,64,74,88,128,158],"visual":[7,76,122],"obstacle":[8,20,47,59],"avoidance":[9],"and":[10,16,68,113,146,161,165],"reactive":[11],"robot":[12,91,115,140],"navigation":[13,79],"for":[14],"outdoor":[15],"indoor":[17],"environments.":[18],"The":[19,44,78,103,121,142],"detection":[21],"algorithm":[22,87],"includes":[23],"image":[25],"feature":[26,32],"tracking":[27],"procedure":[28],"followed":[29],"by":[30,93,137],"a":[31,66,75,84],"classification":[33],"process":[34,125],"based":[35],"on":[36,132],"the":[37,58,90,106,110,114,133,138,149,167],"IPT":[38],"(":[39,98],"Inverse":[40],"Perspective":[41],"Transformation":[42],").":[43,102],"classifier":[45],"discriminates":[46],"points":[48,112],"from":[49],"ground":[50,111],"points.":[51],"Obstacle":[52],"features":[53],"permit":[54],"draw":[56],"out":[57],"boundaries":[60],"which":[61],"are":[62],"used":[63],"construct":[65],"local":[67],"qualitative":[69],"polar":[70],"occupancy":[71],"grid,":[72],"analogously":[73],"sonar.":[77],"task":[80],"is":[81,126],"completed":[82],"with":[83],"robocentric":[85],"localization":[86],"compute":[89],"pose":[92,123],"means":[94],"of":[95,109,151],"EKF":[97],"Extended":[99],"Kalman":[100],"Filter":[101],"filter":[104],"integrates":[105],"world":[107],"coordinates":[108],"position":[116],"in":[117],"its":[118],"state":[119],"vector.":[120],"estimation":[124],"intended":[127],"correct":[129],"possible":[130],"drifts":[131],"dead-reckoning":[134],"data":[135],"provided":[136],"proprioceptive":[139],"sensors.":[141],"experiments,":[143],"conducted":[144],"indoors":[145],"outdoors,":[147],"illustrate":[148],"range":[150],"scenarios":[152],"where":[153],"our":[154],"proposal":[155],"has":[156],"proved":[157],"be":[159],"useful,":[160],"show,":[162],"both":[163],"qualitatively":[164],"quantitatively,":[166],"benefits":[168],"it":[169],"provides.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}