{"id":"https://openalex.org/W2204100769","doi":"https://doi.org/10.1109/humanoids.2015.7363465","title":"Continuous humanoid locomotion over uneven terrain using stereo fusion","display_name":"Continuous humanoid locomotion over uneven terrain using stereo fusion","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2204100769","doi":"https://doi.org/10.1109/humanoids.2015.7363465","mag":"2204100769"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2015.7363465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","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/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Maurice F. Fallon","raw_affiliation_strings":["School of Informatics, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029732124","display_name":"Pat Marion","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pat Marion","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, MIT, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036513591","display_name":"Robin Deits","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Robin Deits","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, MIT, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103690682","display_name":"Thomas J. Whelan","orcid":null},"institutions":[{"id":"https://openalex.org/I157286207","display_name":"National University of Ireland, Maynooth","ror":"https://ror.org/048nfjm95","country_code":"IE","type":"education","lineage":["https://openalex.org/I157286207"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Thomas Whelan","raw_affiliation_strings":["Department of Computer Science, Maynooth University, Ireland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Maynooth University, Ireland","institution_ids":["https://openalex.org/I157286207"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007370809","display_name":"Matthew Antone","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matthew Antone","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, MIT, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077352742","display_name":"John McDonald","orcid":"https://orcid.org/0000-0001-9225-673X"},"institutions":[{"id":"https://openalex.org/I157286207","display_name":"National University of Ireland, Maynooth","ror":"https://ror.org/048nfjm95","country_code":"IE","type":"education","lineage":["https://openalex.org/I157286207"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"John McDonald","raw_affiliation_strings":["Department of Computer Science, Maynooth University, Ireland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Maynooth University, Ireland","institution_ids":["https://openalex.org/I157286207"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074291890","display_name":"Russ Tedrake","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Russ Tedrake","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, MIT, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5072974727"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":243.776,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.99968339,"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":"881","last_page":"888"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9979000091552734,"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":0.7522093653678894},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7296063303947449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7209121584892273},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.707329273223877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6431340575218201},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5526127815246582},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5181456804275513},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4542657732963562},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.44900450110435486},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4439057409763336},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.4411182999610901},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4378115236759186},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33546948432922363},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0980583131313324},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.08229556679725647}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7522093653678894},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7296063303947449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7209121584892273},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.707329273223877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6431340575218201},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5526127815246582},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5181456804275513},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4542657732963562},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.44900450110435486},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4439057409763336},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.4411182999610901},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4378115236759186},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33546948432922363},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0980583131313324},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.08229556679725647},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/humanoids.2015.7363465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.maynoothuniversity.ie:8308","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401432","display_name":"Maynooth University ePrints and eTheses Archive (Maynooth University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I157286207","host_organization_name":"National University of Ireland, Maynooth","host_organization_lineage":["https://openalex.org/I157286207"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.713.384","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.713.384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://homepages.inf.ed.ac.uk/mfallon2/publications/15_fallon_humanoids.pdf","raw_type":"text"},{"id":"pmh:oai:pure.ed.ac.uk:publications/86b8b540-4f97-4e0f-9d7a-42ed2590b394","is_oa":false,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/86b8b540-4f97-4e0f-9d7a-42ed2590b394","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":""}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1030513622","https://openalex.org/W1962169445","https://openalex.org/W1977788990","https://openalex.org/W1985935868","https://openalex.org/W1987648924","https://openalex.org/W1999684857","https://openalex.org/W2015149365","https://openalex.org/W2042870409","https://openalex.org/W2052980659","https://openalex.org/W2104974755","https://openalex.org/W2106953757","https://openalex.org/W2108507649","https://openalex.org/W2117248802","https://openalex.org/W2123894592","https://openalex.org/W2127895608","https://openalex.org/W2133410371","https://openalex.org/W2143769815","https://openalex.org/W2149811681","https://openalex.org/W2163003390","https://openalex.org/W2296319761","https://openalex.org/W2540579400","https://openalex.org/W4250589301","https://openalex.org/W6626973494","https://openalex.org/W6663401431","https://openalex.org/W6678790860"],"related_works":["https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3110652258","https://openalex.org/W2971758839"],"abstract_inverted_index":{"For":[0],"humanoid":[1,34],"robots":[2],"to":[3,36,44,50,54,71,102,149,163,188,215],"fulfill":[4],"their":[5],"mobility":[6],"potential":[7],"they":[8],"must":[9],"demonstrate":[10],"reliable":[11],"and":[12,17,27,59,95,161,198],"efficient":[13],"locomotion":[14,217],"over":[15,57],"rugged":[16],"irregular":[18],"terrain.":[19],"In":[20],"this":[21,137],"paper":[22],"we":[23],"present":[24],"the":[25,78,104,118,127,139,144],"perception":[26,65],"planning":[28],"algorithms":[29],"which":[30,80,88],"have":[31],"allowed":[32],"a":[33,46,73,157,208],"robot":[35,159],"use":[37,145],"only":[38],"passive":[39],"stereo":[40,69,112],"imagery":[41,70,113],"(as":[42],"opposed":[43],"actuating":[45],"laser":[47,209],"range":[48,210],"sensor)":[49],"safely":[51],"plan":[52,103],"footsteps":[53],"continuously":[55,67],"walk":[56],"rough":[58],"uneven":[60],"surfaces":[61],"without":[62],"stopping.":[63],"The":[64,193],"system":[66],"integrates":[68],"build":[72],"consistent":[74],"3D":[75],"model":[76],"of":[77,129,143,146,195],"terrain":[79,120,130,154],"is":[81,138,212],"then":[82],"used":[83],"by":[84],"our":[85,111,135],"footstep":[86],"planner":[87],"reasons":[89],"about":[90],"obstacle":[91],"avoidance,":[92],"kinematic":[93],"reachability":[94],"foot":[96],"rotation":[97],"through":[98],"mixed-integer":[99],"quadratic":[100],"optimization":[101],"required":[105],"step":[106],"positions.":[107],"We":[108],"illustrate":[109],"that":[110,124,175,207],"fusion":[114],"approach":[115],"can":[116],"measure":[117],"walking":[119],"with":[121,182],"sufficient":[122],"accuracy":[123],"it":[125],"matches":[126],"quality":[128],"estimates":[131],"from":[132],"LIDAR.":[133],"To":[134],"knowledge":[136],"first":[140],"such":[141],"demonstration":[142],"computer":[147],"vision":[148],"carry":[150],"out":[151],"general":[152],"purpose":[153],"estimation":[155],"on":[156],"locomoting":[158],"-":[160],"additionally":[162],"do":[164],"so":[165],"in":[166,218],"continuous":[167],"motion.":[168],"A":[169],"particular":[170],"integration":[171],"challenge":[172],"was":[173],"ensuring":[174],"these":[176,219],"two":[177],"computationally":[178],"intensive":[179],"systems":[180],"operate":[181],"minimal":[183],"latency":[184],"(below":[185],"1":[186],"second)":[187],"allow":[189],"re-planning":[190],"while":[191],"walking.":[192],"results":[194,205],"extensive":[196],"experimentation":[197],"quantitative":[199],"analysis":[200],"are":[201],"also":[202],"presented.":[203],"Our":[204],"indicate":[206],"sensor":[211],"not":[213],"necessary":[214],"achieve":[216],"challenging":[220],"situations.":[221]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":8}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}