{"id":"https://openalex.org/W4387090466","doi":"https://doi.org/10.1109/ecmr59166.2023.10256289","title":"Enhancing Door-Status Detection for Autonomous Mobile Robots During Environment-Specific Operational Use","display_name":"Enhancing Door-Status Detection for Autonomous Mobile Robots During Environment-Specific Operational Use","publication_year":2023,"publication_date":"2023-09-04","ids":{"openalex":"https://openalex.org/W4387090466","doi":"https://doi.org/10.1109/ecmr59166.2023.10256289"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr59166.2023.10256289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr59166.2023.10256289","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://air.unimi.it/bitstream/2434/1017309/3/2203.03959.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052452333","display_name":"Michele Antonazzi","orcid":"https://orcid.org/0000-0001-6396-7567"},"institutions":[{"id":"https://openalex.org/I189158943","display_name":"University of Milan","ror":"https://ror.org/00wjc7c48","country_code":"IT","type":"education","lineage":["https://openalex.org/I189158943"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Michele Antonazzi","raw_affiliation_strings":["University of Milan,Department of Computer Science,Milano,Italy","Department of Computer Science, University of Milan, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"University of Milan,Department of Computer Science,Milano,Italy","institution_ids":["https://openalex.org/I189158943"]},{"raw_affiliation_string":"Department of Computer Science, University of Milan, Milano, Italy","institution_ids":["https://openalex.org/I189158943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020142519","display_name":"Matteo Luperto","orcid":"https://orcid.org/0000-0002-8976-2073"},"institutions":[{"id":"https://openalex.org/I189158943","display_name":"University of Milan","ror":"https://ror.org/00wjc7c48","country_code":"IT","type":"education","lineage":["https://openalex.org/I189158943"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Luperto","raw_affiliation_strings":["University of Milan,Department of Computer Science,Milano,Italy","Department of Computer Science, University of Milan, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"University of Milan,Department of Computer Science,Milano,Italy","institution_ids":["https://openalex.org/I189158943"]},{"raw_affiliation_string":"Department of Computer Science, University of Milan, Milano, Italy","institution_ids":["https://openalex.org/I189158943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090235510","display_name":"Nicola Basilico","orcid":"https://orcid.org/0000-0002-4512-3480"},"institutions":[{"id":"https://openalex.org/I189158943","display_name":"University of Milan","ror":"https://ror.org/00wjc7c48","country_code":"IT","type":"education","lineage":["https://openalex.org/I189158943"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Basilico","raw_affiliation_strings":["University of Milan,Department of Computer Science,Milano,Italy","Department of Computer Science, University of Milan, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"University of Milan,Department of Computer Science,Milano,Italy","institution_ids":["https://openalex.org/I189158943"]},{"raw_affiliation_string":"Department of Computer Science, University of Milan, Milano, Italy","institution_ids":["https://openalex.org/I189158943"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001947622","display_name":"N. Alberto Borghese","orcid":"https://orcid.org/0000-0002-0925-3448"},"institutions":[{"id":"https://openalex.org/I189158943","display_name":"University of Milan","ror":"https://ror.org/00wjc7c48","country_code":"IT","type":"education","lineage":["https://openalex.org/I189158943"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"N. Alberto Borghese","raw_affiliation_strings":["University of Milan,Department of Computer Science,Milano,Italy","Department of Computer Science, University of Milan, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"University of Milan,Department of Computer Science,Milano,Italy","institution_ids":["https://openalex.org/I189158943"]},{"raw_affiliation_string":"Department of Computer Science, University of Milan, Milano, Italy","institution_ids":["https://openalex.org/I189158943"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5052452333"],"corresponding_institution_ids":["https://openalex.org/I189158943"],"apc_list":null,"apc_paid":null,"fwci":3.8268,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93737267,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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/T12288","display_name":"Optimization and Search Problems","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/leverage","display_name":"Leverage (statistics)","score":0.7878873348236084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7463905215263367},{"id":"https://openalex.org/keywords/doors","display_name":"Doors","score":0.7440104484558105},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7394801378250122},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6711786985397339},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.64494389295578},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5645423531532288},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5179392695426941},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5110191106796265},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.4556778073310852},{"id":"https://openalex.org/keywords/boosting","display_name":"Boosting (machine learning)","score":0.4542655348777771},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35823488235473633},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33985841274261475},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.32391053438186646},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.15030264854431152},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.09016680717468262},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08193239569664001}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7878873348236084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7463905215263367},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.7440104484558105},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7394801378250122},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6711786985397339},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.64494389295578},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5645423531532288},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5179392695426941},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5110191106796265},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.4556778073310852},{"id":"https://openalex.org/C46686674","wikidata":"https://www.wikidata.org/wiki/Q466303","display_name":"Boosting (machine learning)","level":2,"score":0.4542655348777771},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35823488235473633},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33985841274261475},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.32391053438186646},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.15030264854431152},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.09016680717468262},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08193239569664001}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ecmr59166.2023.10256289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr59166.2023.10256289","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:air.unimi.it:2434/1017309","is_oa":true,"landing_page_url":"https://hdl.handle.net/2434/1017309","pdf_url":"https://air.unimi.it/bitstream/2434/1017309/3/2203.03959.pdf","source":{"id":"https://openalex.org/S4306400516","display_name":"Archivio Istituzionale della Ricerca (Universita Degli Studi Di Milano)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I189158943","host_organization_name":"University of Milan","host_organization_lineage":["https://openalex.org/I189158943"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":{"id":"pmh:oai:air.unimi.it:2434/1017309","is_oa":true,"landing_page_url":"https://hdl.handle.net/2434/1017309","pdf_url":"https://air.unimi.it/bitstream/2434/1017309/3/2203.03959.pdf","source":{"id":"https://openalex.org/S4306400516","display_name":"Archivio Istituzionale della Ricerca (Universita Degli Studi Di Milano)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I189158943","host_organization_name":"University of Milan","host_organization_lineage":["https://openalex.org/I189158943"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bookPart"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4387090466.pdf"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1033316025","https://openalex.org/W1567193306","https://openalex.org/W1861492603","https://openalex.org/W1992083653","https://openalex.org/W1994956562","https://openalex.org/W2031489346","https://openalex.org/W2086724557","https://openalex.org/W2108598243","https://openalex.org/W2113321439","https://openalex.org/W2115924296","https://openalex.org/W2126791158","https://openalex.org/W2167340365","https://openalex.org/W2194775991","https://openalex.org/W2402652555","https://openalex.org/W2410369356","https://openalex.org/W2626895984","https://openalex.org/W2794284562","https://openalex.org/W2953127211","https://openalex.org/W2963037989","https://openalex.org/W2963733582","https://openalex.org/W2964248288","https://openalex.org/W2964339842","https://openalex.org/W3091442961","https://openalex.org/W3096609285","https://openalex.org/W3150631816","https://openalex.org/W3159782171","https://openalex.org/W4281746058","https://openalex.org/W4293584584","https://openalex.org/W4294310790","https://openalex.org/W4297182666","https://openalex.org/W4310605739","https://openalex.org/W4385245566","https://openalex.org/W6634211352","https://openalex.org/W6739901393","https://openalex.org/W6778485988"],"related_works":["https://openalex.org/W3016239942","https://openalex.org/W2487340859","https://openalex.org/W2486091485","https://openalex.org/W4293365988","https://openalex.org/W2374188760","https://openalex.org/W2997934945","https://openalex.org/W4205206412","https://openalex.org/W2468876127","https://openalex.org/W2885750329","https://openalex.org/W2963610131"],"abstract_inverted_index":{"Door-status":[0],"detection,":[1],"namely":[2],"recognising":[3],"the":[4,38,41,48,62,71,87,96,137,146,153,165,178,186,191],"presence":[5],"of":[6,40,50,74,79,101,114,141,167,190],"a":[7,17,21,52,57,66,102,108,112,118,127,142,183],"door":[8],"and":[9,121,176,188],"its":[10,150],"status":[11],"(open":[12],"or":[13,34],"closed),":[14],"can":[15,32],"induce":[16],"remarkable":[18],"impact":[19],"on":[20,91,131],"mobile":[22,58,103],"robot's":[23,119],"navigation":[24],"performance,":[25],"especially":[26],"for":[27,56,65,148],"dynamic":[28],"settings":[29],"where":[30],"doors":[31,75],"enable":[33],"disable":[35],"passages,":[36],"changing":[37],"topology":[39],"map.":[42],"In":[43],"this":[44,168],"work,":[45],"we":[46,82,106,122],"address":[47],"problem":[49],"building":[51],"door-status":[53,128],"detector":[54,129],"module":[55],"robot":[59,143],"operating":[60],"in":[61,152,174,177],"same":[63,72],"environment":[64,155],"long":[67],"time,":[68],"thus":[69],"observing":[70],"set":[73],"from":[76,117],"different":[77],"points":[78],"view.":[80],"First,":[81],"show":[83],"how":[84],"to":[85,110,125,144],"improve":[86],"mainstream":[88],"approach":[89],"based":[90,130],"object":[92],"detection":[93],"by":[94],"considering":[95],"constrained":[97],"perception":[98],"setup":[99],"typical":[100,138],"robot.":[104],"Hence,":[105],"devise":[107],"method":[109,169],"build":[111],"dataset":[113],"images":[115],"taken":[116],"perspective":[120],"exploit":[123],"it":[124],"obtain":[126],"deep":[132],"learning.":[133],"We":[134],"then":[135],"leverage":[136],"working":[139,154],"conditions":[140],"qualify":[145],"model":[147],"boosting":[149],"performance":[151],"via":[156],"fine-tuning":[157,192],"with":[158,170],"additional":[159],"data.":[160],"Our":[161],"experimental":[162],"analysis":[163],"shows":[164],"effectiveness":[166],"results":[171],"obtained":[172],"both":[173],"simulation":[175],"real-world,":[179],"that":[180],"also":[181],"highlights":[182],"trade-off":[184],"between":[185],"costs":[187],"benefits":[189],"approach.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2023-09-28T00:00:00"}