{"id":"https://openalex.org/W2071548090","doi":"https://doi.org/10.1109/ecmr.2013.6698836","title":"Efficient traversability analysis for mobile robots using the Kinect sensor","display_name":"Efficient traversability analysis for mobile robots using the Kinect sensor","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W2071548090","doi":"https://doi.org/10.1109/ecmr.2013.6698836","mag":"2071548090"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2013.6698836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","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/A5066509880","display_name":"Igor Bogoslavskyi","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Igor Bogoslavskyi","raw_affiliation_strings":["University of Freiburg, Institue of Computer Science, Freiburg, Germany","[Institue of Computer Science, University of Freiburg, Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"University of Freiburg, Institue of Computer Science, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"[Institue of Computer Science, University of Freiburg, Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048814731","display_name":"Olga Vysotska","orcid":"https://orcid.org/0000-0003-4660-9869"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Olga Vysotska","raw_affiliation_strings":["University of Freiburg, Institue of Computer Science, Freiburg, Germany","[Institue of Computer Science, University of Freiburg, Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"University of Freiburg, Institue of Computer Science, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"[Institue of Computer Science, University of Freiburg, Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079501654","display_name":"Jacopo Serafin","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jacopo Serafin","raw_affiliation_strings":["Dept. of Systems and Computer Science, La Sapienza University of Rome, Rome, Italy","Dept. of Syst. & Comput. Sci., La Sapienza Univ. of Rome, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Dept. of Systems and Computer Science, La Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dept. of Syst. & Comput. Sci., La Sapienza Univ. of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028708181","display_name":"Giorgio Grisetti","orcid":"https://orcid.org/0000-0002-8038-9989"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grisetti","raw_affiliation_strings":["Dept. of Systems and Computer Science, La Sapienza University of Rome, Rome, Italy","Dept. of Syst. & Comput. Sci., La Sapienza Univ. of Rome, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Dept. of Systems and Computer Science, La Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dept. of Syst. & Comput. Sci., La Sapienza Univ. of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["University of Freiburg, Institue of Computer Science, Freiburg, Germany","[Institue of Computer Science, University of Freiburg, Freiburg, Germany]"],"affiliations":[{"raw_affiliation_string":"University of Freiburg, Institue of Computer Science, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"[Institue of Computer Science, University of Freiburg, Freiburg, Germany]","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066509880"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":62.9395,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.99611682,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"158","last_page":"163"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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/robot","display_name":"Robot","score":0.7515350580215454},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7418332695960999},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6688145399093628},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6179256439208984},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5532674789428711},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5287891030311584},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33273887634277344}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7515350580215454},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7418332695960999},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6688145399093628},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6179256439208984},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5532674789428711},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5287891030311584},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33273887634277344},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ecmr.2013.6698836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.416.7829","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.416.7829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~stachnis/pdf/bogoslavskyi13ecmr.pdf","raw_type":"text"},{"id":"pmh:oai:iris.uniroma1.it:11573/565339","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/565339","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.5199999809265137,"display_name":"Life below water"},{"id":"https://metadata.un.org/sdg/11","score":0.4099999964237213,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W15356902","https://openalex.org/W23883585","https://openalex.org/W97351935","https://openalex.org/W1509297182","https://openalex.org/W1512390800","https://openalex.org/W1538841625","https://openalex.org/W1565995454","https://openalex.org/W1580963329","https://openalex.org/W1611476298","https://openalex.org/W1758919393","https://openalex.org/W1868140457","https://openalex.org/W1964365496","https://openalex.org/W2102523882","https://openalex.org/W2119492493","https://openalex.org/W2120322874","https://openalex.org/W2132683379","https://openalex.org/W2145104993","https://openalex.org/W2166380040","https://openalex.org/W2293437554","https://openalex.org/W4237428613","https://openalex.org/W6600974514","https://openalex.org/W6630474910","https://openalex.org/W6632154620","https://openalex.org/W6636175460","https://openalex.org/W6679610175","https://openalex.org/W6696790707"],"related_works":["https://openalex.org/W2357256365","https://openalex.org/W2348502264","https://openalex.org/W2365486383","https://openalex.org/W2362059367","https://openalex.org/W2901443725","https://openalex.org/W2350084742","https://openalex.org/W2357988862","https://openalex.org/W1855558850","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"For":[0],"autonomous":[1],"robots,":[2],"the":[3,24,43,57,64,69,83,87,94],"ability":[4],"to":[5],"classify":[6],"their":[7],"local":[8],"surroundings":[9],"into":[10],"traversable":[11],"and":[12,59,96,128],"non-traversable":[13],"areas":[14,65],"is":[15,80],"crucial":[16],"for":[17,30,61,74],"navigation.":[18,75],"In":[19],"this":[20],"paper,":[21],"we":[22],"address":[23],"problem":[25],"of":[26,68,82,86,99],"online":[27],"traversability":[28],"analysis":[29],"robots":[31],"that":[32,71,91],"are":[33,72],"only":[34],"equipped":[35],"with":[36,103],"a":[37,51,124],"Kinect-style":[38],"sensor.":[39],"Our":[40],"approach":[41],"processes":[42],"depth":[44],"data":[45],"at":[46,93],"10":[47],"fps-25":[48],"fps":[49],"on":[50],"standard":[52],"notebook":[53],"computer":[54],"without":[55],"using":[56],"GPU":[58],"allows":[60],"robustly":[62],"identifying":[63],"in":[66,112,116,123],"front":[67],"sensor":[70],"safe":[73],"The":[76],"component":[77],"presented":[78],"here":[79],"one":[81],"building":[84],"blocks":[85],"EU":[88],"project":[89],"ROVINA":[90],"aims":[92],"exploration":[95],"digital":[97],"preservation":[98],"hazardous":[100],"archeological":[101],"sites":[102],"mobile":[104],"robots.":[105],"Real":[106],"world":[107],"evaluations":[108],"have":[109],"been":[110],"conducted":[111],"controlled":[113],"lab":[114],"environments,":[115],"an":[117],"outdoor":[118],"scene,":[119],"as":[120,122],"well":[121],"real,":[125],"partially":[126],"unexplored,":[127],"roughly":[129],"1700":[130],"year":[131],"old":[132],"Roman":[133],"catacomb.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}