{"id":"https://openalex.org/W1981994935","doi":"https://doi.org/10.1109/ecmr.2013.6698838","title":"Terrain classification with conditional random fields on fused 3D LIDAR and camera data","display_name":"Terrain classification with conditional random fields on fused 3D LIDAR and camera data","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W1981994935","doi":"https://doi.org/10.1109/ecmr.2013.6698838","mag":"1981994935"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2013.6698838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698838","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/A5062522015","display_name":"Stefan Laible","orcid":null},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Stefan Laible","raw_affiliation_strings":["Chair of Cognitive Systems, University of T\u00fcbingen, T\u00fcbingen, Germany","Computer Science Dept., University of T\u00fcbingen, T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Cognitive Systems, University of T\u00fcbingen, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Computer Science Dept., University of T\u00fcbingen, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018916879","display_name":"Yasir Khan","orcid":"https://orcid.org/0000-0002-6386-6181"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Yasir Niaz Khan","raw_affiliation_strings":["Department of Machine Learning and Robotics, University of Stuttgart, Germany","Dept. of Machine Learning & Robot., Univ. of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Machine Learning and Robotics, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Dept. of Machine Learning & Robot., Univ. of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004958444","display_name":"Andreas Zell","orcid":"https://orcid.org/0000-0003-3299-2211"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Zell","raw_affiliation_strings":["Chair of Cognitive Systems, University of T\u00fcbingen, T\u00fcbingen, Germany","Computer Science Dept., University of T\u00fcbingen, T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Cognitive Systems, University of T\u00fcbingen, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Computer Science Dept., University of T\u00fcbingen, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5062522015"],"corresponding_institution_ids":["https://openalex.org/I8087733"],"apc_list":null,"apc_paid":null,"fwci":41.9597,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.99322538,"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":"172","last_page":"177"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.9987999796867371,"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/conditional-random-field","display_name":"Conditional random field","score":0.8887962102890015},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7883429527282715},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6613931655883789},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.653100311756134},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6475353240966797},{"id":"https://openalex.org/keywords/markov-random-field","display_name":"Markov random field","score":0.6115122437477112},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.582389235496521},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5709014534950256},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5691282749176025},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.5318906903266907},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5081877708435059},{"id":"https://openalex.org/keywords/random-forest","display_name":"Random forest","score":0.4939306378364563},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44242429733276367},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3566490411758423},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.21896672248840332},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.21588817238807678},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.188597172498703},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18600249290466309},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09063214063644409}],"concepts":[{"id":"https://openalex.org/C152565575","wikidata":"https://www.wikidata.org/wiki/Q1124538","display_name":"Conditional random field","level":2,"score":0.8887962102890015},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7883429527282715},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6613931655883789},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.653100311756134},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6475353240966797},{"id":"https://openalex.org/C2778045648","wikidata":"https://www.wikidata.org/wiki/Q176827","display_name":"Markov random field","level":4,"score":0.6115122437477112},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.582389235496521},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5709014534950256},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5691282749176025},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.5318906903266907},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5081877708435059},{"id":"https://openalex.org/C169258074","wikidata":"https://www.wikidata.org/wiki/Q245748","display_name":"Random forest","level":2,"score":0.4939306378364563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44242429733276367},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3566490411758423},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.21896672248840332},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.21588817238807678},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.188597172498703},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18600249290466309},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09063214063644409},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ecmr.2013.6698838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698838","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:10.1.1.406.8276","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.406.8276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cogsys.cs.uni-tuebingen.de/publikationen/2013/laible2013ecmr.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W132133602","https://openalex.org/W1884470205","https://openalex.org/W2020999234","https://openalex.org/W2039051707","https://openalex.org/W2086564205","https://openalex.org/W2095844239","https://openalex.org/W2096071754","https://openalex.org/W2131081720","https://openalex.org/W2156385557","https://openalex.org/W2169551590","https://openalex.org/W2246782745","https://openalex.org/W2394946233","https://openalex.org/W2545985378","https://openalex.org/W2911964244","https://openalex.org/W4206192903","https://openalex.org/W4206733017","https://openalex.org/W6639380560","https://openalex.org/W6674626981","https://openalex.org/W6674793120"],"related_works":["https://openalex.org/W2394196665","https://openalex.org/W2048280290","https://openalex.org/W2064376096","https://openalex.org/W2131012217","https://openalex.org/W1997147308","https://openalex.org/W3047022030","https://openalex.org/W3095972260","https://openalex.org/W1980262250","https://openalex.org/W1981994935","https://openalex.org/W83012617"],"abstract_inverted_index":{"For":[0],"a":[1,25,30,56,107,118],"mobile":[2],"robot":[3,21],"to":[4,15,40],"navigate":[5],"safely":[6],"and":[7,29,58,73,80,114],"efficiently":[8],"in":[9,44],"an":[10,140],"outdoor":[11],"environment,":[12],"it":[13,116],"has":[14],"recognize":[16],"its":[17],"surrounding":[18],"terrain.":[19],"Our":[20],"is":[22,53,61,132],"equipped":[23],"with":[24,117],"low-resolution":[26],"3D":[27],"LIDAR":[28,78],"color":[31],"camera.":[32],"The":[33],"data":[34,79],"from":[35],"both":[36],"sensors":[37],"are":[38],"fused":[39],"classify":[41],"the":[42,47,50,77,85,93,97,99,127,149,153],"terrain":[43,155],"front":[45],"of":[46,96,145],"robot.":[48],"Therefore,":[49],"ground":[51],"plane":[52],"divided":[54],"into":[55,91,152],"grid":[57,150],"each":[59],"cell":[60],"classified":[62],"as":[63],"either":[64],"asphalt,":[65],"cobblestones,":[66],"grass":[67],"or":[68],"gravel.":[69],"We":[70,105,124,138],"use":[71],"height":[72],"intensity":[74],"features":[75],"for":[76,84,135,147],"Local":[81],"ternary":[82],"patterns":[83],"image":[86],"data.":[87],"By":[88],"additionally":[89],"taking":[90],"account":[92],"context-sensitive":[94],"nature":[95],"terrain,":[98],"results":[100],"can":[101],"be":[102],"improved":[103],"significantly.":[104],"present":[106],"method":[108],"based":[109,122],"on":[110],"Conditional":[111,128],"Random":[112,120,129],"Fields":[113],"compare":[115],"Markov":[119],"Field":[121,130],"approach.":[123],"show":[125],"that":[126],"model":[131],"better":[133],"suited":[134],"our":[136],"task.":[137],"achieve":[139],"average":[141],"true":[142],"positive":[143],"rate":[144],"94.2%":[146],"classifying":[148],"cells":[151],"four":[154],"classes.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
