{"id":"https://openalex.org/W3134647849","doi":"https://doi.org/10.1109/dicta51227.2020.9363413","title":"Moving object detection for humanoid navigation in cluttered dynamic indoor environments using a confidence tracking approach","display_name":"Moving object detection for humanoid navigation in cluttered dynamic indoor environments using a confidence tracking approach","publication_year":2020,"publication_date":"2020-11-29","ids":{"openalex":"https://openalex.org/W3134647849","doi":"https://doi.org/10.1109/dicta51227.2020.9363413","mag":"3134647849"},"language":"en","primary_location":{"id":"doi:10.1109/dicta51227.2020.9363413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dicta51227.2020.9363413","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 Digital Image Computing: Techniques and Applications (DICTA)","raw_type":"proceedings-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/A5041390506","display_name":"Prabin Kumar Rath","orcid":"https://orcid.org/0000-0003-2108-2474"},"institutions":[{"id":"https://openalex.org/I16292982","display_name":"National Institute of Technology Rourkela","ror":"https://ror.org/011gmn932","country_code":"IN","type":"education","lineage":["https://openalex.org/I16292982"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Prabin Kumar Rath","raw_affiliation_strings":["Department of Computer Science and Engineering, National Institute of Technology, Rourkela, Odisha, India"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, National Institute of Technology, Rourkela, Odisha, India","institution_ids":["https://openalex.org/I16292982"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039801580","display_name":"Alejandro Ramirez\u2010Serrano","orcid":"https://orcid.org/0000-0003-0562-0121"},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Alejandro Ramirez-Serrano","raw_affiliation_strings":["Faculty of Mechanical Engineering, University of Calgary, Calgary, Alberta, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, University of Calgary, Calgary, Alberta, Canada","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019481683","display_name":"Dilip Kumar Pratihar","orcid":"https://orcid.org/0000-0001-8585-5910"},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Dilip Kumar Pratihar","raw_affiliation_strings":["Faculty of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West-Bengal, India"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Indian Institute of Technology, Kharagpur, West-Bengal, India","institution_ids":["https://openalex.org/I145894827"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5041390506"],"corresponding_institution_ids":["https://openalex.org/I16292982"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10526053,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9961000084877014,"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":0.9957000017166138,"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":0.7747386693954468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7429081797599792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7418984770774841},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7198671698570251},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5771032571792603},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4972565472126007},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.46841731667518616},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4533332288265228},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.16273418068885803}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7747386693954468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7429081797599792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7418984770774841},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7198671698570251},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5771032571792603},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4972565472126007},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.46841731667518616},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4533332288265228},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.16273418068885803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/dicta51227.2020.9363413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dicta51227.2020.9363413","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 Digital Image Computing: Techniques and Applications (DICTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1961595631","https://openalex.org/W1994114209","https://openalex.org/W2006251970","https://openalex.org/W2024668293","https://openalex.org/W2047328415","https://openalex.org/W2074658631","https://openalex.org/W2075495470","https://openalex.org/W2115579991","https://openalex.org/W2119946558","https://openalex.org/W2126011766","https://openalex.org/W2132360065","https://openalex.org/W2149916176","https://openalex.org/W2167724667","https://openalex.org/W2417447115","https://openalex.org/W2461937780","https://openalex.org/W2607733144","https://openalex.org/W2752646893","https://openalex.org/W2756623162","https://openalex.org/W2770498732","https://openalex.org/W2956548091","https://openalex.org/W3124420883","https://openalex.org/W6641446361","https://openalex.org/W6677794103","https://openalex.org/W6746134194"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2091018038","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2225378543","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W9839718"],"abstract_inverted_index":{"Humanoid":[0],"robot":[1],"perception":[2,7],"is":[3,27,53,70,159],"challenging":[4],"compared":[5],"to":[6,93,130],"in":[8,14,18,42,56,102],"other":[9],"robotic":[10],"systems.":[11],"The":[12,137,170,190],"sensors":[13],"a":[15,110,120,176,186,196],"humanoid":[16,188],"are":[17],"constant":[19,31],"state":[20],"of":[21,33,36,39,47,67,74,165],"motion":[22,32,118],"and":[23,97,119,180],"their":[24,100],"pose":[25],"estimation":[26,46],"affected":[28],"by":[29],"the":[30,34,45,48,68,72,84,135,146,168],"tens":[35],"DOFs":[37],"(Degrees":[38],"Freedom)":[40],"which":[41],"turn":[43],"affect":[44],"sensed":[49],"environmental":[50],"objects.":[51],"This":[52,107],"especially":[54],"problematic":[55],"highly":[57],"cluttered":[58],"dynamic":[59,105],"spaces":[60],"such":[61,79,88],"as":[62,80],"indoor":[63],"office":[64],"environments.":[65,106],"One":[66],"challenges":[69],"identifying":[71],"presence":[73],"all":[75],"independent":[76,131],"moving/dynamic":[77],"entities":[78,133],"people":[81],"walking":[82],"around":[83,134],"robot.":[85,136],"If":[86],"available,":[87],"information":[89],"would":[90],"assist":[91],"humanoids":[92],"build":[94],"better":[95,98],"maps":[96],"plan":[99],"motions":[101],"unstructured":[103],"confined":[104],"paper":[108],"presents":[109],"moving":[111,132],"object":[112],"detection":[113,138],"pipeline":[114],"based":[115,154],"on":[116,142,155,185],"relative":[117],"novel":[121],"confidence":[122],"tracking":[123],"approach":[124],"that":[125],"detects":[126],"point":[127,163],"clusters":[128,164],"corresponding":[129],"does":[139],"not":[140],"depend":[141],"prior":[143],"knowledge":[144],"about":[145],"target":[147],"entity.":[148],"A":[149],"ground":[150],"plane":[151],"removal":[152],"tool":[153],"voxel":[156],"grid":[157],"covariance":[158],"used":[160],"for":[161],"separating":[162],"objects":[166],"within":[167],"environment.":[169],"proposed":[171],"method":[172],"was":[173],"tested":[174],"using":[175],"Velodyne":[177],"VLP-16":[178],"LiDAR":[179],"an":[181],"Intel-T265":[182],"IMU":[183],"mounted":[184],"gimbal-stabilized":[187],"head.":[189],"experiments":[191],"show":[192],"promising":[193],"results":[194],"with":[195],"real-time":[197],"computational":[198],"time":[199],"complexity.":[200]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}