{"id":"https://openalex.org/W2914192653","doi":"https://doi.org/10.1109/humanoids.2018.8625036","title":"Classifying Obstacles and Exploiting Knowledge About Classes for Efficient Humanoid Navigation","display_name":"Classifying Obstacles and Exploiting Knowledge About Classes for Efficient Humanoid Navigation","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2914192653","doi":"https://doi.org/10.1109/humanoids.2018.8625036","mag":"2914192653"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8625036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th 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/A5004050851","display_name":"Peter Regier","orcid":"https://orcid.org/0000-0002-0898-7386"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Peter Regier","raw_affiliation_strings":["The University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"The University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067521048","display_name":"Andres Milioto","orcid":"https://orcid.org/0000-0002-5716-3279"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andres Milioto","raw_affiliation_strings":["The University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"The University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019019430","display_name":"Philipp Karkowski","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Philipp Karkowski","raw_affiliation_strings":["The University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"The University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["The University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"The University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"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/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["The University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"The University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5004050851"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.8357,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.79643496,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"abs 1606 915","issue":null,"first_page":"820","last_page":"826"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9990000128746033,"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/T10812","display_name":"Human Pose and Action Recognition","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"}}],"keywords":[{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.7967588901519775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.786766529083252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6721616983413696},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6576932668685913},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6392099261283875},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6316331624984741},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6128523945808411},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6120148301124573},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5455883741378784},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5440144538879395},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45408394932746887},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4422059953212738},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4123408794403076},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3804320693016052},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06796467304229736},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06588935852050781}],"concepts":[{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.7967588901519775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.786766529083252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6721616983413696},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6576932668685913},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6392099261283875},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6316331624984741},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6128523945808411},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6120148301124573},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5455883741378784},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5440144538879395},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45408394932746887},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4422059953212738},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4123408794403076},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3804320693016052},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06796467304229736},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06588935852050781},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2018.8625036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"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":30,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W1975142260","https://openalex.org/W1986833558","https://openalex.org/W1990749394","https://openalex.org/W1995034212","https://openalex.org/W2015149365","https://openalex.org/W2060613652","https://openalex.org/W2080486840","https://openalex.org/W2130422193","https://openalex.org/W2194775991","https://openalex.org/W2204100769","https://openalex.org/W2412782625","https://openalex.org/W2540258482","https://openalex.org/W2560023338","https://openalex.org/W2570611506","https://openalex.org/W2620625173","https://openalex.org/W2624341934","https://openalex.org/W2762439315","https://openalex.org/W2782725118","https://openalex.org/W2783000019","https://openalex.org/W2966975099","https://openalex.org/W4240202985","https://openalex.org/W4246876444","https://openalex.org/W4293406525","https://openalex.org/W6639102338","https://openalex.org/W6715287400","https://openalex.org/W6717372056","https://openalex.org/W6730342312","https://openalex.org/W6747406660","https://openalex.org/W6748755788"],"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":[1,143],"paper,":[2],"we":[3,60,73],"propose":[4],"a":[5,44,62,75,83,119,166],"new":[6],"approach":[7],"to":[8,98,102,145,164],"humanoid":[9],"navigation":[10],"through":[11,155],"cluttered":[12],"environments":[13],"that":[14,96],"exploits":[15],"knowledge":[16],"about":[17],"different":[18,139],"obstacle":[19,36],"classes":[20,140],"and":[21,32,112,141],"selects":[22],"appropriate":[23],"robot":[24,42,130],"actions.":[25],"To":[26],"classify":[27,133],"objects":[28],"from":[29],"RGB":[30],"images":[31],"decide":[33],"whether":[34],"an":[35],"can":[37,86,131],"be":[38,87,99],"overcome":[39],"by":[40,48],"the":[41,69,79,93,104,123,127,129,134,138],"with":[43,118],"corresponding":[45],"action,":[46],"e.g.,":[47],"pushing":[49],"or":[50,54,57,168],"carrying":[51],"it":[52,114],"aside":[53],"stepping":[55],"over":[56],"onto":[58],"it,":[59],"train":[61],"convolutional":[63],"neural":[64],"network":[65],"(CNN).":[66],"Based":[67],"on":[68,81],"associated":[70],"action":[71],"costs,":[72],"compute":[74,147],"cost":[76],"grid":[77],"of":[78],"environment":[80],"which":[82],"2D":[84],"path":[85,91],"efficiently":[88,146],"planned.":[89],"This":[90],"encodes":[92],"necessary":[94],"actions":[95],"need":[97],"carried":[100],"out":[101],"reach":[103],"goal.":[105],"We":[106],"implemented":[107],"our":[108],"framework":[109],"in":[110,115],"ROS":[111],"tested":[113],"various":[116],"scenarios":[117],"Nao":[120],"robot.":[121],"As":[122],"experiments":[124],"demonstrate,":[125],"using":[126],"CNN":[128],"robustly":[132],"observed":[135],"obstacles":[136],"into":[137],"exploit":[142],"information":[144],"solution":[148,167],"paths.":[149],"Our":[150],"system":[151],"finds":[152],"paths":[153],"also":[154],"regions":[156],"where":[157],"traditional":[158],"planning":[159],"methods":[160],"are":[161],"not":[162],"able":[163],"calculate":[165],"require":[169],"substantially":[170],"more":[171],"time.":[172]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}