{"id":"https://openalex.org/W2060613652","doi":"https://doi.org/10.1109/humanoids.2012.6651595","title":"Real-time navigation in 3D environments based on depth camera data","display_name":"Real-time navigation in 3D environments based on depth camera data","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2060613652","doi":"https://doi.org/10.1109/humanoids.2012.6651595","mag":"2060613652"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651595","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","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/A5002537484","display_name":"Daniel Maier","orcid":"https://orcid.org/0000-0001-7584-7984"},"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":"Daniel Maier","raw_affiliation_strings":["Humanoid Robots Lab, University of Freiburg, Germany","Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018550573","display_name":"Armin Hornung","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":false,"raw_author_name":"Armin Hornung","raw_affiliation_strings":["Humanoid Robots Lab, University of Freiburg, Germany","Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"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":"Maren Bennewitz","raw_affiliation_strings":["Humanoid Robots Lab, University of Freiburg, Germany","Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5002537484"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":171.7827,"has_fulltext":false,"cited_by_count":95,"citation_normalized_percentile":{"value":0.99920572,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"692","last_page":"697"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7370212078094482},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7269129753112793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7008268237113953},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6697883009910583},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5740730166435242},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5290557146072388},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5254244804382324},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5200693011283875},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.42204537987709045},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3698301315307617},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10396113991737366}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7370212078094482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7269129753112793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7008268237113953},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6697883009910583},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5740730166435242},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5290557146072388},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5254244804382324},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5200693011283875},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.42204537987709045},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3698301315307617},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10396113991737366},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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":3,"locations":[{"id":"doi:10.1109/humanoids.2012.6651595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651595","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.299.5069","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.299.5069","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hrl.informatik.uni-freiburg.de/papers/maierd12humanoids.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.423.6015","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.423.6015","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/~maierd/pub/maierd12humanoids.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W109761125","https://openalex.org/W1595068977","https://openalex.org/W1984475609","https://openalex.org/W2005855867","https://openalex.org/W2042870409","https://openalex.org/W2073660060","https://openalex.org/W2080486840","https://openalex.org/W2087627746","https://openalex.org/W2103495448","https://openalex.org/W2108134361","https://openalex.org/W2142847285","https://openalex.org/W2149538904","https://openalex.org/W2161426450","https://openalex.org/W2162509261","https://openalex.org/W2162632657","https://openalex.org/W2163003390","https://openalex.org/W2167326590","https://openalex.org/W2171414411","https://openalex.org/W2509493982","https://openalex.org/W3083287416","https://openalex.org/W6604435765","https://openalex.org/W6652120429","https://openalex.org/W6724925041"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,39],"present":[4,70],"an":[5,23,56],"integrated":[6],"approach":[7,83],"for":[8,33,41,108],"robot":[9],"localization,":[10,37],"obstacle":[11,113],"mapping,":[12],"and":[13,36,69,79,92,111],"path":[14],"planning":[15],"in":[16,73,85,97,115],"3D":[17,89],"environments":[18],"based":[19],"on":[20,30,63],"data":[21],"of":[22,65],"onboard":[24],"consumer-level":[25],"depth":[26,42,61,104],"camera.":[27],"We":[28,45],"rely":[29],"state-of-the-art":[31],"techniques":[32],"environment":[34,76,90],"modeling":[35],"which":[38],"extend":[40],"camera":[43,62,105],"data.":[44],"thoroughly":[46],"evaluated":[47],"our":[48,100],"system":[49],"with":[50,55],"a":[51,74,88],"Nao":[52],"humanoid":[53],"equipped":[54],"Asus":[57],"Xtion":[58],"Pro":[59],"Live":[60],"top":[64],"the":[66,94,103],"humanoid's":[67],"head":[68],"navigation":[71],"experiments":[72],"multi-level":[75],"containing":[77],"static":[78],"non-static":[80],"obstacles.":[81],"Our":[82],"performs":[84],"real-time,":[86],"maintains":[87],"representation,":[91],"estimates":[93],"robot's":[95],"pose":[96],"6D.":[98],"As":[99],"results":[101],"demonstrate,":[102],"is":[106],"well-suited":[107],"robust":[109],"localization":[110],"reliable":[112],"avoidance":[114],"complex":[116],"indoor":[117],"environments.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}