{"id":"https://openalex.org/W2945963226","doi":"https://doi.org/10.1109/access.2019.2916480","title":"Three-Dimensional Vibration-Based Terrain Classification for Mobile Robots","display_name":"Three-Dimensional Vibration-Based Terrain Classification for Mobile Robots","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2945963226","doi":"https://doi.org/10.1109/access.2019.2916480","mag":"2945963226"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2916480","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2916480","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08713978.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08713978.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073181963","display_name":"Chengchao Bai","orcid":"https://orcid.org/0000-0002-0349-9869"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengchao Bai","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-0349-9869","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101455523","display_name":"Jifeng Guo","orcid":"https://orcid.org/0000-0003-2840-9820"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jifeng Guo","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101574356","display_name":"Hongxing Zheng","orcid":"https://orcid.org/0000-0002-8685-9080"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxing Zheng","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":44.1646,"has_fulltext":true,"cited_by_count":44,"citation_normalized_percentile":{"value":0.99556448,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"63485","last_page":"63492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"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":0.9975000023841858,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/terrain","display_name":"Terrain","score":0.8556939959526062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6872560381889343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5418972969055176},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5156491994857788},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5003094673156738},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.4951919615268707},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4835602939128876},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4560816287994385},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4344111680984497},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4241536557674408},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42360424995422363},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.25517547130584717},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.2229953110218048}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8556939959526062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6872560381889343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5418972969055176},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5156491994857788},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5003094673156738},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.4951919615268707},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4835602939128876},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4560816287994385},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4344111680984497},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4241536557674408},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42360424995422363},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.25517547130584717},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2229953110218048},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2916480","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2916480","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08713978.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:50269187c3f44db98404d4469b3e9b35","is_oa":true,"landing_page_url":"https://doaj.org/article/50269187c3f44db98404d4469b3e9b35","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 63485-63492 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2916480","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2916480","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08713978.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2945963226.pdf","grobid_xml":"https://content.openalex.org/works/W2945963226.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1550337986","https://openalex.org/W1640294041","https://openalex.org/W1919477892","https://openalex.org/W2017977531","https://openalex.org/W2027519484","https://openalex.org/W2042599225","https://openalex.org/W2089652819","https://openalex.org/W2099098276","https://openalex.org/W2107378930","https://openalex.org/W2111182037","https://openalex.org/W2116814604","https://openalex.org/W2119492493","https://openalex.org/W2127447330","https://openalex.org/W2148014896","https://openalex.org/W2156067790","https://openalex.org/W2166380040","https://openalex.org/W2330348428","https://openalex.org/W2564318728","https://openalex.org/W2582000222","https://openalex.org/W2603255528","https://openalex.org/W2605997839","https://openalex.org/W2734220227","https://openalex.org/W2736635938","https://openalex.org/W2750751986","https://openalex.org/W2750929583","https://openalex.org/W2807390139","https://openalex.org/W2853129952","https://openalex.org/W2885612287","https://openalex.org/W2891017969","https://openalex.org/W2903952299","https://openalex.org/W2963263790","https://openalex.org/W2963654998","https://openalex.org/W3105757741","https://openalex.org/W6632977021","https://openalex.org/W6640177214","https://openalex.org/W6731396922","https://openalex.org/W6753765674","https://openalex.org/W6755016175"],"related_works":["https://openalex.org/W2765080098","https://openalex.org/W2385749422","https://openalex.org/W2355290145","https://openalex.org/W2353465659","https://openalex.org/W3023105672","https://openalex.org/W2992410632","https://openalex.org/W2768717251","https://openalex.org/W2025756212","https://openalex.org/W2113164274","https://openalex.org/W2132444301"],"abstract_inverted_index":{"Extraterrestrial":[0],"celestial":[1],"patrol":[2],"missions":[3],"have":[4],"introduced":[5],"very":[6],"strict":[7],"requirements":[8],"for":[9,240],"the":[10,38,41,47,50,54,58,66,71,97,101,105,109,116,121,124,127,130,144,154,165,168,181,185,188,215,223,228,231,234,241],"performance":[11],"of":[12,40,49,53,60,68,78,108,120,126,129,167,200,233,244],"rovers,":[13],"due":[14,28],"to":[15,29,36,65,142,179,220],"their":[16],"high":[17],"cost.":[18],"Vision-based":[19],"or":[20],"Lidar-based":[21],"environment":[22],"sensing":[23],"technology":[24],"has":[25,194,218],"matured.":[26],"However,":[27],"its":[30],"perceptual":[31],"characteristics,":[32],"it":[33,45],"is":[34,73,81,112,140,177],"impossible":[35],"predict":[37],"traversability":[39],"terrain":[42,88,132,189,245],"completely,":[43],"and":[44,62,187,207,230,236],"lacks":[46],"judgment":[48],"physical":[51],"properties":[52],"terrain,":[55],"such":[56],"as":[57],"degree":[59],"hardness":[61],"softness.":[63],"Due":[64],"spectrum":[67],"risks":[69],"that":[70],"rover":[72,98],"facing,":[74],"a":[75,87,150,238],"wide":[76],"range":[77,224],"detection":[79],"processes":[80],"required.":[82],"This":[83],"research":[84],"paper":[85],"proposes":[86],"classification":[89,192,216],"approach":[90],"based":[91],"on":[92,197],"3-D":[93],"vibrations":[94,128,186],"induced":[95],"in":[96,222],"structure":[99],"by":[100,114],"wheel-terrain":[102],"interaction.":[103],"Initially,":[104],"acceleration":[106],"information":[107],"three":[110],"directions":[111],"obtained":[113,159],"using":[115],"Inertial":[117],"measurement":[118],"unit":[119],"rover.":[122],"Then,":[123],"characteristics":[125,166],"known":[131],"are":[133,158],"learned.":[134],"The":[135],"Fast":[136],"Fourier":[137],"Transformation":[138],"(FFT)":[139],"used":[141,178],"transform":[143],"labeled":[145],"three-axis":[146],"vibration":[147],"vectors":[148,157],"into":[149,163],"frequency":[151],"domain.":[152],"Then":[153],"training":[155],"feature":[156],"through":[160],"normalization.":[161],"Taking":[162],"account":[164],"environment,":[169],"an":[170],"improved":[171],"back":[172],"propagation":[173],"(BP)":[174],"neural":[175],"network":[176],"get":[180],"mapping":[182],"relationships":[183],"between":[184],"types.":[190],"Finally,":[191],"testing":[193,213],"been":[195],"conducted":[196],"five":[198],"kinds":[199],"environments,":[201],"including":[202],"concrete,":[203],"grassland,":[204],"sand,":[205],"gravel,":[206],"mixed.":[208],"After":[209],"20":[210],"times":[211],"random":[212],"experiments,":[214],"accuracy":[217],"proven":[219],"be":[221],"88.99%-100%,":[225],"which":[226],"verified":[227],"validity":[229],"robustness":[232],"algorithm":[235],"laid":[237],"foundation":[239],"subsequent":[242],"identification":[243],"characteristic.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}