{"id":"https://openalex.org/W4313025077","doi":"https://doi.org/10.1109/icarm54641.2022.9959694","title":"Analysis of Robot Traversability over Unstructured Terrain using Information Fusion","display_name":"Analysis of Robot Traversability over Unstructured Terrain using Information Fusion","publication_year":2022,"publication_date":"2022-07-09","ids":{"openalex":"https://openalex.org/W4313025077","doi":"https://doi.org/10.1109/icarm54641.2022.9959694"},"language":"en","primary_location":{"id":"doi:10.1109/icarm54641.2022.9959694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959694","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5061847709","display_name":"Wenyao Zhang","orcid":"https://orcid.org/0000-0001-7080-9604"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenyao Zhang","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037321603","display_name":"Shipeng Lyu","orcid":"https://orcid.org/0000-0003-1649-5370"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shipeng Lyu","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100761070","display_name":"Chen Yao","orcid":"https://orcid.org/0009-0004-2383-8217"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Yao","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103219247","display_name":"Feng Xue","orcid":"https://orcid.org/0000-0002-2446-1413"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Xue","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100748871","display_name":"Zheng Zhu","orcid":"https://orcid.org/0000-0002-0149-0473"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Zhu","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075727192","display_name":"Zhenzhong Jia","orcid":"https://orcid.org/0000-0001-5924-5502"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhong Jia","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, SUSTech, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5061847709"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":2.3271,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.91182904,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"413","last_page":"418"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/terrain","display_name":"Terrain","score":0.8212454319000244},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.795013427734375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7122396230697632},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6955814361572266},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.601868748664856},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.49245843291282654},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.453849196434021},{"id":"https://openalex.org/keywords/information-fusion","display_name":"Information fusion","score":0.451739102602005},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4334052801132202},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12639987468719482},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07867279648780823}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8212454319000244},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.795013427734375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7122396230697632},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6955814361572266},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.601868748664856},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.49245843291282654},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.453849196434021},{"id":"https://openalex.org/C2982962833","wikidata":"https://www.wikidata.org/wiki/Q17092450","display_name":"Information fusion","level":2,"score":0.451739102602005},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4334052801132202},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12639987468719482},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07867279648780823},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm54641.2022.9959694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959694","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"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":22,"referenced_works":["https://openalex.org/W1977753016","https://openalex.org/W2059391268","https://openalex.org/W2119492493","https://openalex.org/W2136213179","https://openalex.org/W2166380040","https://openalex.org/W2167819645","https://openalex.org/W2319961868","https://openalex.org/W2509494001","https://openalex.org/W2750751986","https://openalex.org/W2765757095","https://openalex.org/W2809054577","https://openalex.org/W2914633272","https://openalex.org/W2960309803","https://openalex.org/W3004376344","https://openalex.org/W3025528286","https://openalex.org/W3096411729","https://openalex.org/W3105757741","https://openalex.org/W3174748154","https://openalex.org/W3200754244","https://openalex.org/W3206164009","https://openalex.org/W4253729359","https://openalex.org/W6801678087"],"related_works":["https://openalex.org/W2354322770","https://openalex.org/W3000097931","https://openalex.org/W1570848052","https://openalex.org/W2373192430","https://openalex.org/W4239268388","https://openalex.org/W1924837940","https://openalex.org/W2379407973","https://openalex.org/W4243305035","https://openalex.org/W2364976037","https://openalex.org/W2372770459"],"abstract_inverted_index":{"Robot":[0],"traversability":[1,32,101,117,127,181],"is":[2,24,96],"critical":[3],"for":[4,26],"its":[5],"mission":[6],"success,":[7],"especially":[8],"in":[9,184],"unstructured":[10,106],"environments,":[11],"where":[12],"the":[13,70,89,121,123,170,177,185],"rough":[14],"terrain":[15,58],"can":[16,179],"often":[17,51,77],"lead":[18],"to":[19,29,41,68,120,168],"collision":[20],"and":[21,34,72,84,113,138,160],"tip-over.":[22],"It":[23],"crucial":[25],"autonomous":[27],"robots":[28,56,104],"analyze":[30,180],"their":[31],"accurately":[33,182],"quickly.":[35],"Most":[36],"of":[37,91,100,103,116,187],"past":[38],"studies":[39],"tend":[40],"use":[42],"semantic":[43,71,130],"or":[44,59],"geometrical":[45],"information":[46,133],"alone,":[47],"whose":[48],"results":[49,174],"are":[50],"not":[52],"accurate":[53],"enough":[54],"since":[55],"misclassify":[57],"neglect":[60],"other":[61],"modal":[62],"information.":[63],"Some":[64],"scholars":[65],"have":[66],"tried":[67],"fuse":[69],"geometry":[73,132],"information,":[74,131],"but":[75],"they":[76],"require":[78],"expensive":[79,155],"sensors":[80,156],"such":[81,149,157],"as":[82,150,158],"Lidar":[83,159],"industrial":[85,161],"cameras,":[86],"thereby":[87],"limiting":[88],"applicability":[90],"these":[92],"methods.":[93],"Moreover,":[94,141],"there":[95],"few":[97],"robust":[98],"methods":[99],"analysis":[102],"over":[105],"terrain.":[107],"This":[108],"paper":[109],"proposes":[110],"a":[111],"novel":[112],"fast":[114],"method":[115,125,143],"analysis.":[118],"Compared":[119],"literature,":[122],"proposed":[124,171],"analyzes":[126],"based":[128],"on":[129],"(e.g.,":[134],"slop,":[135],"step":[136],"height),":[137],"robot":[139,178],"mobility.":[140],"this":[142],"only":[144],"requires":[145],"low-cost":[146],"RGB-D":[147],"cameras":[148],"RealSense":[151],"D435i":[152],"rather":[153],"than":[154],"cameras.":[162],"We":[163],"also":[164],"conduct":[165],"multiple":[166],"experiments":[167],"validate":[169],"approach.":[172],"The":[173],"prove":[175],"that":[176],"even":[183],"case":[186],"misclassified":[188],"terrains.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-03T08:47:05.690250","created_date":"2025-10-10T00:00:00"}
