{"id":"https://openalex.org/W1987769927","doi":"https://doi.org/10.1109/icra.2012.6224593","title":"Curb detection for a pedestrian robot in urban environments","display_name":"Curb detection for a pedestrian robot in urban environments","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1987769927","doi":"https://doi.org/10.1109/icra.2012.6224593","mag":"1987769927"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224593","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/57744","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088271801","display_name":"J\u00e9r\u00f4me Maye","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Jerome Maye","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Switzerland","Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland#TAB#"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072156121","display_name":"Ralf Kaestner","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ralf Kaestner","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Switzerland","Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland#TAB#"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Switzerland","Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland#TAB#"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5088271801"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":4.1326,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.93780892,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"367","last_page":"373"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9972000122070312,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9940000176429749,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.7901116609573364},{"id":"https://openalex.org/keywords/pedestrian-detection","display_name":"Pedestrian detection","score":0.7215447425842285},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.684009313583374},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49996232986450195},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49313706159591675},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49157699942588806},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.479979008436203},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36030638217926025},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.19562381505966187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15301579236984253}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.7901116609573364},{"id":"https://openalex.org/C2780156472","wikidata":"https://www.wikidata.org/wiki/Q2355550","display_name":"Pedestrian detection","level":3,"score":0.7215447425842285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.684009313583374},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49996232986450195},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49313706159591675},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49157699942588806},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.479979008436203},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36030638217926025},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.19562381505966187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15301579236984253}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2012.6224593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224593","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/57744","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/57744","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.408.4001","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.408.4001","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://europa.informatik.uni-freiburg.de/files/maye12curb.pdf","raw_type":"text"},{"id":"doi:10.3929/ethz-a-010023066","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-a-010023066","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/57744","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/57744","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8399999737739563,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W170913017","https://openalex.org/W1601795611","https://openalex.org/W1663973292","https://openalex.org/W1994566837","https://openalex.org/W1999478155","https://openalex.org/W2025653905","https://openalex.org/W2045656233","https://openalex.org/W2049633694","https://openalex.org/W2094414211","https://openalex.org/W2098288588","https://openalex.org/W2115247917","https://openalex.org/W2115703234","https://openalex.org/W2117496083","https://openalex.org/W2137813581","https://openalex.org/W2138615112","https://openalex.org/W2140541765","https://openalex.org/W2147880316","https://openalex.org/W2151171789","https://openalex.org/W2167149929","https://openalex.org/W2169447051","https://openalex.org/W2950952738","https://openalex.org/W4232383088","https://openalex.org/W6606984905","https://openalex.org/W6680970901","https://openalex.org/W6682082992","https://openalex.org/W6684888907"],"related_works":["https://openalex.org/W2392100589","https://openalex.org/W2512789322","https://openalex.org/W3122828758","https://openalex.org/W2101960027","https://openalex.org/W4205958986","https://openalex.org/W2197846993","https://openalex.org/W2972620127","https://openalex.org/W2981141433","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0,55],"this":[1],"paper,":[2],"we":[3,58,75,128],"address":[4],"the":[5,31,34,46,50,53,65,77,86,99,109,125,134,144,159,162,169,175,183,190],"problem":[6],"of":[7,36,52,64,98,120,133,161,168,174,177,189],"curb":[8],"detection":[9],"for":[10,139,182],"a":[11,60,80,118,150],"pedestrian":[12],"robot":[13],"navigating":[14],"in":[15,143],"urban":[16],"environments.":[17],"We":[18,185],"devise":[19],"an":[20,90,102,130,172],"unsupervised":[21],"method":[22],"that":[23,105,155],"is":[24,106],"mostly":[25],"view-independent,":[26],"makes":[27],"no":[28],"assumptions":[29],"about":[30],"environment,":[32],"restricts":[33],"set":[35],"hand-tuned":[37],"parameters,":[38],"and":[39,67,84,179,194],"builds":[40],"on":[41,124,192],"sound":[42],"probabilistic":[43],"reasoning":[44],"from":[45],"input":[47],"data":[48],"to":[49],"outcome":[51],"algorithm.":[54,111],"our":[56],"approach,":[57],"construct":[59],"piecewise":[61],"planar":[62],"model":[63,104],"environment":[66,78],"determine":[68],"curbs":[69],"at":[70],"plane":[71],"segment":[72],"boundaries.":[73],"Initially,":[74],"sense":[76],"with":[79,117,149],"nodding":[81],"laser":[82],"range-finder":[83],"project":[85],"3D":[87],"measurements":[88],"into":[89],"efficient":[91],"Digital":[92],"Elevation":[93],"Map":[94],"(DEM).":[95],"Each":[96],"cell":[97],"DEM":[100,170],"maintains":[101],"error":[103],"propagated":[107],"throughout":[108],"entire":[110],"Plane":[112],"segments":[113],"are":[114,147],"further":[115],"estimated":[116],"mixture":[119,140,163],"linear":[121],"regression":[122],"models":[123],"DEM.":[126],"Here,":[127],"propose":[129],"original":[131],"formulation":[132],"standard":[135],"Expectation-Maximization":[136],"(EM)":[137],"algorithm":[138,191],"models.":[141],"Specifically,":[142],"E-step,":[145],"responsibilities":[146],"computed":[148],"Conditional":[151],"Random":[152],"Field":[153],"(CRF)":[154],"introduces":[156],"dependencies":[157],"between":[158],"covariates":[160],"model.":[164],"A":[165],"graph-based":[166],"segmentation":[167],"provides":[171],"estimate":[173],"number":[176],"planes":[178],"initial":[180],"parameters":[181],"EM.":[184],"show":[186],"promising":[187],"results":[188],"simulated":[193],"real-world":[195],"data.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
