{"id":"https://openalex.org/W3134527331","doi":"https://doi.org/10.1109/iceic51217.2021.9369805","title":"Improved CNN-Based Path Planning for Stairs Climbing in Autonomous UAV with LiDAR Sensor","display_name":"Improved CNN-Based Path Planning for Stairs Climbing in Autonomous UAV with LiDAR Sensor","publication_year":2021,"publication_date":"2021-01-31","ids":{"openalex":"https://openalex.org/W3134527331","doi":"https://doi.org/10.1109/iceic51217.2021.9369805","mag":"3134527331"},"language":"en","primary_location":{"id":"doi:10.1109/iceic51217.2021.9369805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceic51217.2021.9369805","pdf_url":null,"source":{"id":"https://openalex.org/S4306498844","display_name":"2021 International Conference on Electronics, Information, and Communication (ICEIC)","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":"2021 International Conference on Electronics, Information, and Communication (ICEIC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5023400592","display_name":"Yeon Ji Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I113409471","display_name":"Kumoh National Institute of Technology","ror":"https://ror.org/05dkjfz60","country_code":"KR","type":"education","lineage":["https://openalex.org/I113409471"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeon Ji Choi","raw_affiliation_strings":["Dept. IT Convergence Engineering, Kumoh National Institute of Technology, Gumi, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. IT Convergence Engineering, Kumoh National Institute of Technology, Gumi, South Korea","institution_ids":["https://openalex.org/I113409471"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017114142","display_name":"Tariq Rahim","orcid":"https://orcid.org/0000-0001-7817-9715"},"institutions":[{"id":"https://openalex.org/I113409471","display_name":"Kumoh National Institute of Technology","ror":"https://ror.org/05dkjfz60","country_code":"KR","type":"education","lineage":["https://openalex.org/I113409471"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Tariq Rahim","raw_affiliation_strings":["Dept. IT Convergence Engineering, Kumoh National Institute of Technology, Gumi, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. IT Convergence Engineering, Kumoh National Institute of Technology, Gumi, South Korea","institution_ids":["https://openalex.org/I113409471"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001021358","display_name":"I Nyoman Apraz Ramatryana","orcid":"https://orcid.org/0000-0001-5507-2579"},"institutions":[{"id":"https://openalex.org/I113409471","display_name":"Kumoh National Institute of Technology","ror":"https://ror.org/05dkjfz60","country_code":"KR","type":"education","lineage":["https://openalex.org/I113409471"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"I Nyoman Apraz Ramatryana","raw_affiliation_strings":["Dept. IT Convergence Engineering, Kumoh National Institute of Technology, Gumi, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. IT Convergence Engineering, Kumoh National Institute of Technology, Gumi, South Korea","institution_ids":["https://openalex.org/I113409471"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101769002","display_name":"Soo Young Shin","orcid":"https://orcid.org/0000-0002-2526-2395"},"institutions":[{"id":"https://openalex.org/I113409471","display_name":"Kumoh National Institute of Technology","ror":"https://ror.org/05dkjfz60","country_code":"KR","type":"education","lineage":["https://openalex.org/I113409471"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Soo Young Shin","raw_affiliation_strings":["Dept. IT Convergence Engineering, Kumoh National Institute of Technology, Gumi, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. IT Convergence Engineering, Kumoh National Institute of Technology, Gumi, South Korea","institution_ids":["https://openalex.org/I113409471"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I113409471"],"apc_list":null,"apc_paid":null,"fwci":7.4902,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.97240256,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9958000183105469,"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/stairs","display_name":"Stairs","score":0.7797927856445312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7579527497291565},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6733664274215698},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6622021794319153},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6166804432868958},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5058138370513916},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5006842613220215},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.48625171184539795},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.48518091440200806},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.44161540269851685},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.43371865153312683},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.43115633726119995},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41712355613708496},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2422616183757782},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14217838644981384},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09641042351722717},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07516267895698547}],"concepts":[{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.7797927856445312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7579527497291565},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6733664274215698},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6622021794319153},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6166804432868958},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5058138370513916},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5006842613220215},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.48625171184539795},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.48518091440200806},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.44161540269851685},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.43371865153312683},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43115633726119995},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41712355613708496},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2422616183757782},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14217838644981384},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09641042351722717},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07516267895698547},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iceic51217.2021.9369805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceic51217.2021.9369805","pdf_url":null,"source":{"id":"https://openalex.org/S4306498844","display_name":"2021 International Conference on Electronics, Information, and Communication (ICEIC)","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":"2021 International Conference on Electronics, Information, and Communication (ICEIC)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.kingston.ac.uk:54698","is_oa":false,"landing_page_url":"https://eprints.kingston.ac.uk/id/eprint/54698/","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4864466533","display_name":null,"funder_award_id":"2018R1A6A1A03024003","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W78175635","https://openalex.org/W612478963","https://openalex.org/W1979843398","https://openalex.org/W2006501475","https://openalex.org/W2082313107","https://openalex.org/W2098171705","https://openalex.org/W2142424817","https://openalex.org/W2146071867","https://openalex.org/W2156013594","https://openalex.org/W2159786429","https://openalex.org/W2162991084","https://openalex.org/W2171461698","https://openalex.org/W2738583358","https://openalex.org/W2891794946","https://openalex.org/W2905758560","https://openalex.org/W2963037989","https://openalex.org/W2964808424","https://openalex.org/W2996890227","https://openalex.org/W3036908895","https://openalex.org/W3144404684","https://openalex.org/W3157358059","https://openalex.org/W6628973269","https://openalex.org/W6645318424","https://openalex.org/W6681644751","https://openalex.org/W6683543377","https://openalex.org/W6683782890","https://openalex.org/W6771818461"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2966028239","https://openalex.org/W2526240748","https://openalex.org/W2909947097","https://openalex.org/W2264340699","https://openalex.org/W4286283119","https://openalex.org/W2082442769","https://openalex.org/W2047426691","https://openalex.org/W2889685908"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicles":[2],"(UAV)":[3],"technology":[4],"has":[5],"been":[6],"an":[7,22],"innovative":[8],"advancement":[9],"in":[10,45,82,140,144],"the":[11,60,68,73,79,83,97,103,134,137],"scientific":[12],"environment":[13],"over":[14],"recent":[15],"years.":[16],"In":[17],"this":[18],"paper,":[19],"we":[20],"propose":[21],"approach":[23,53,66],"that":[24],"facilitates":[25],"UAVs":[26],"with":[27,32],"a":[28,55,64,93,106,124],"monocular":[29],"camera":[30,76],"combined":[31],"light":[33],"detection":[34],"and":[35,110],"range":[36],"(LiDAR)":[37],"sensor":[38,112],"to":[39,77],"navigate":[40],"autonomously":[41],"for":[42,59,116],"stairs":[43,142],"climbing":[44],"completely":[46],"unknown,":[47],"GPS-denied":[48],"indoor":[49,141],"environments.":[50],"The":[51,88,119],"suggested":[52],"utilizes":[54],"state-of-the-art":[56],"CNN":[57],"model":[58,101],"task.":[61],"We":[62,132],"suggest":[63],"novel":[65],"utilizing":[67],"video":[69],"feed":[70],"derived":[71],"from":[72,123,129],"UAV":[74],"front":[75],"determine":[78],"next":[80],"maneuver":[81],"deep":[84,98],"neural":[85,99],"network":[86,100],"model.":[87],"process":[89],"is":[90,121],"viewed":[91],"as":[92,105],"classification":[94],"activity,":[95],"where":[96],"classifies":[102],"image":[104],"stair":[107],"or":[108],"no-stair":[109],"LiDAR":[111],"data":[113],"are":[114],"used":[115],"distance":[117],"calculation.":[118],"training":[120],"performed":[122],"dataset":[125],"of":[126,136],"images":[127],"obtained":[128],"multiple":[130],"stairs.":[131],"show":[133],"effectiveness":[135],"proposed":[138],"device":[139],"scenarios":[143],"real-time.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
