{"id":"https://openalex.org/W1496342644","doi":"https://doi.org/10.1109/icar.2015.7251484","title":"A next generation mobile robot with multi-mode sense of 3D perception","display_name":"A next generation mobile robot with multi-mode sense of 3D perception","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1496342644","doi":"https://doi.org/10.1109/icar.2015.7251484","mag":"1496342644"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2015.7251484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","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/A5025458420","display_name":"Parijat Deshpande","orcid":"https://orcid.org/0000-0001-6221-7115"},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Parijat Deshpande","raw_affiliation_strings":["Tata Consultancy Services, Innovation Laboratory, Kolkata, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tata Consultancy Services, Innovation Laboratory, Kolkata, India","institution_ids":["https://openalex.org/I55215948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034006373","display_name":"V. Ramu Reddy","orcid":null},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"V. Ramu Reddy","raw_affiliation_strings":["Tata Consultancy Services, Innovation Laboratory, Kolkata, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tata Consultancy Services, Innovation Laboratory, Kolkata, India","institution_ids":["https://openalex.org/I55215948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017118766","display_name":"Arindam Saha","orcid":"https://orcid.org/0000-0002-8017-171X"},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Arindam Saha","raw_affiliation_strings":["Tata Consultancy Services, Innovation Laboratory, Kolkata, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tata Consultancy Services, Innovation Laboratory, Kolkata, India","institution_ids":["https://openalex.org/I55215948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030618551","display_name":"Karthikeyan Vaiapury","orcid":null},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Karthikeyan Vaiapury","raw_affiliation_strings":["Tata Consultancy Services, Innovation Laboratory, Kolkata, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tata Consultancy Services, Innovation Laboratory, Kolkata, India","institution_ids":["https://openalex.org/I55215948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001229741","display_name":"Keshaw Dewangan","orcid":null},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Keshaw Dewangan","raw_affiliation_strings":["Tata Consultancy Services, Innovation Laboratory, Kolkata, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tata Consultancy Services, Innovation Laboratory, Kolkata, India","institution_ids":["https://openalex.org/I55215948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101642900","display_name":"Ranjan Dasgupta","orcid":"https://orcid.org/0000-0002-6747-9015"},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ranjan Dasgupta","raw_affiliation_strings":["Tata Consultancy Services, Innovation Laboratory, Kolkata, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tata Consultancy Services, Innovation Laboratory, Kolkata, India","institution_ids":["https://openalex.org/I55215948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55215948"],"apc_list":null,"apc_paid":null,"fwci":51.3748,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.99456941,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2","issue":null,"first_page":"382","last_page":"387"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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-science","display_name":"Computer science","score":0.6603420376777649},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6589179039001465},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.533950924873352},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5268693566322327},{"id":"https://openalex.org/keywords/hazardous-waste","display_name":"Hazardous waste","score":0.4797431230545044},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46188586950302124},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.45227062702178955},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.4212874472141266},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.41672155261039734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4001774191856384},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39932820200920105},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3293430805206299},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20285755395889282},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.19148162007331848}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6603420376777649},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6589179039001465},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.533950924873352},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5268693566322327},{"id":"https://openalex.org/C22507642","wikidata":"https://www.wikidata.org/wiki/Q1069369","display_name":"Hazardous waste","level":2,"score":0.4797431230545044},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46188586950302124},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.45227062702178955},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.4212874472141266},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.41672155261039734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4001774191856384},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39932820200920105},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3293430805206299},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20285755395889282},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.19148162007331848},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar.2015.7251484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1926693172","https://openalex.org/W1964101772","https://openalex.org/W2038891231","https://openalex.org/W2041227160","https://openalex.org/W2052094325","https://openalex.org/W2076332785","https://openalex.org/W2089308402","https://openalex.org/W2113167535","https://openalex.org/W2136463281","https://openalex.org/W2167667767","https://openalex.org/W2168084217","https://openalex.org/W2313726415","https://openalex.org/W2408274030","https://openalex.org/W3217246742","https://openalex.org/W6714118452"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W1503780849","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W2543203645"],"abstract_inverted_index":{"Robotic":[0],"platforms":[1],"are":[2,130,198],"becoming":[3],"increasingly":[4],"important":[5],"and":[6,10,57,96,126,136,141,164,195,237],"have":[7],"their":[8,201],"utility":[9],"cost":[11,119,128],"completely":[12],"justified":[13],"during":[14],"missions":[15,56,101],"which":[16],"require":[17],"substituting":[18],"humans.":[19],"In":[20],"this":[21],"paper,":[22],"we":[23],"present":[24],"our":[25],"ongoing":[26],"work":[27],"in":[28,37,41,162,212,235],"developing":[29,112],"a":[30,59,154,221],"multi-sensor":[31],"robotic":[32,74,216],"platform":[33,75,115,217],"intended":[34],"for":[35,223],"deploying":[36],"an":[38,113],"indoor":[39],"environment":[40],"hazardous":[42,97],"situations.":[43],"The":[44,150,190],"prime":[45],"objective":[46],"of":[47,61,88,99,117,152,192],"such":[48,153,228],"portable":[49],"robots":[50],"will":[51,156,175,218],"be":[52,78,107,157],"to":[53,64,67,77,83,158,182,208],"conduct":[54],"surveillance":[55],"provide":[58],"perception":[60,234],"its":[62,89],"surroundings":[63],"the":[65,69,73,93,100,177,180,188,209,213],"human-in-loop":[66],"ascertain":[68],"uncertain":[70],"environment.":[71],"Therefore,":[72],"needs":[76],"equipped":[79],"with":[80,133,146,179],"various":[81,193,225],"sensors":[82,185,197],"create":[84],"3D":[85,144],"visual":[86],"maps":[87,145],"surroundings.":[90],"However,":[91],"given":[92],"compact":[94],"size":[95],"nature":[98],"expensive":[102],"LIDAR":[103],"equipment":[104],"may":[105],"not":[106],"always":[108],"suitable.":[109],"We":[110],"propose":[111],"integrated":[114],"comprising":[116],"low":[118,127],"optical":[120],"cameras,":[121],"acoustic":[122,138],"localization":[123],"via":[124,167],"microphones":[125],"alternatives":[129],"explored":[131],"albeit":[132],"limited":[134],"functionality":[135],"ultrasonic":[137,169],"imaging":[139],"arrays":[140],"augmenting":[142],"these":[143],"thermal":[147,243],"imagery":[148],"data.":[149],"aim":[151],"system":[155,174],"perform":[159],"well":[160,241],"even":[161],"dark":[163,236],"smoky":[165,238],"environments":[166,239],"active":[168],"imaging.":[170],"A":[171],"decision":[172],"support":[173],"equip":[176],"robot":[178],"ability":[181],"prioritize":[183],"appropriate":[184],"depending":[186],"on":[187,200],"scenario.":[189],"choice":[191],"proprioceptive":[194],"exteroceptive":[196],"based":[199],"significantly":[202],"lower":[203],"price":[204],"tag":[205],"as":[206,220,229,240,242],"compared":[207],"systems":[210],"available":[211],"market.":[214],"This":[215],"serve":[219],"test-bed":[222],"performing":[224],"complex":[226],"tasks":[227],"discovering":[230],"occluded":[231],"objects,":[232],"improved":[233],"source":[244],"detection.":[245]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}