{"id":"https://openalex.org/W1803706761","doi":"https://doi.org/10.1109/icra.2015.7139750","title":"Terrain traversability prediction by imaging thermal transients","display_name":"Terrain traversability prediction by imaging thermal transients","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1803706761","doi":"https://doi.org/10.1109/icra.2015.7139750","mag":"1803706761"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5040183955","display_name":"Chris Cunningham","orcid":"https://orcid.org/0000-0001-7083-9088"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chris Cunningham","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University","The Robotics Institute, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037801956","display_name":"Issa Nesnas","orcid":"https://orcid.org/0000-0002-2616-5001"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Issa Nesnas","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology","Jet propulsion laboratory, California institute of technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet propulsion laboratory, California institute of technology, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000515937","display_name":"William Whittaker","orcid":"https://orcid.org/0000-0003-2530-0360"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William L. Whittaker","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University","The Robotics Institute, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3947","last_page":"3952"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10325","display_name":"Astro and Planetary Science","score":0.9284999966621399,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12677","display_name":"Sports Dynamics and Biomechanics","score":0.9175000190734863,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9387305974960327},{"id":"https://openalex.org/keywords/thermal-inertia","display_name":"Thermal inertia","score":0.6299033164978027},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.5809623003005981},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.5659623146057129},{"id":"https://openalex.org/keywords/thermal","display_name":"Thermal","score":0.4833326041698456},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4492191970348358},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4392218291759491},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3612976670265198},{"id":"https://openalex.org/keywords/geotechnical-engineering","display_name":"Geotechnical engineering","score":0.32916533946990967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3189641237258911},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.1629241406917572},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.11502480506896973},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0794026255607605}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.9387305974960327},{"id":"https://openalex.org/C2984722928","wikidata":"https://www.wikidata.org/wiki/Q904618","display_name":"Thermal inertia","level":3,"score":0.6299033164978027},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.5809623003005981},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.5659623146057129},{"id":"https://openalex.org/C204530211","wikidata":"https://www.wikidata.org/wiki/Q752823","display_name":"Thermal","level":2,"score":0.4833326041698456},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4492191970348358},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4392218291759491},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3612976670265198},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.32916533946990967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3189641237258911},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.1629241406917572},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.11502480506896973},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0794026255607605},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W69671713","https://openalex.org/W158031604","https://openalex.org/W1533527696","https://openalex.org/W1537177818","https://openalex.org/W1663973292","https://openalex.org/W1744404305","https://openalex.org/W1979137246","https://openalex.org/W1979153288","https://openalex.org/W1997889228","https://openalex.org/W2002423109","https://openalex.org/W2011808624","https://openalex.org/W2037855648","https://openalex.org/W2044498659","https://openalex.org/W2051925436","https://openalex.org/W2052445135","https://openalex.org/W2053631675","https://openalex.org/W2057007402","https://openalex.org/W2057996009","https://openalex.org/W2063657018","https://openalex.org/W2078550116","https://openalex.org/W2125188427","https://openalex.org/W2167819645","https://openalex.org/W2466773207","https://openalex.org/W6602836886","https://openalex.org/W6606431558","https://openalex.org/W6631980729","https://openalex.org/W6719334766"],"related_works":["https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W3011631658","https://openalex.org/W1803706761","https://openalex.org/W2737620818","https://openalex.org/W2552051162","https://openalex.org/W3213345122","https://openalex.org/W2518465695"],"abstract_inverted_index":{"The":[0],"inability":[1],"of":[2,17,51,81,86,103,110,118],"current":[3],"robotic":[4],"perception":[5],"techniques":[6],"to":[7,121],"adequately":[8],"detect":[9,33],"non-geometric":[10],"terrain":[11,24,83,114],"hazards":[12],"is":[13],"a":[14,52,71,97,108],"primary":[15],"cause":[16],"failure":[18],"for":[19,73],"robots":[20],"operating":[21],"in":[22,77,112],"natural":[23],"on":[25],"Mars,":[26],"the":[27,40,116],"Moon,":[28],"and":[29,64,79,91,126],"Earth.":[30],"Classical":[31],"approaches":[32],"surface":[34,62],"appearance":[35,63],"but":[36],"do":[37],"not":[38],"measure":[39],"underlying":[41],"mechanical":[42],"properties":[43],"that":[44],"determine":[45],"wheel-terrain":[46],"interaction.":[47],"Diurnal":[48],"temperature":[49],"variations":[50],"granular":[53,82],"material,":[54],"however,":[55],"are":[56,93],"strongly":[57],"correlated":[58],"with":[59],"both":[60],"its":[61],"subsurface":[65],"geophysical":[66],"properties.":[67],"This":[68],"paper":[69],"presents":[70],"technique":[72],"determining":[74],"relative":[75],"differences":[76],"looseness":[78],"traversability":[80,92],"through":[84],"analysis":[85],"thermal":[87,99,104],"imagery.":[88],"Terrain":[89],"compaction":[90],"predicted":[94],"by":[95],"estimating":[96],"material's":[98],"inertia":[100],"from":[101,107],"observations":[102],"transients.":[105],"Results":[106],"set":[109],"experiments":[111],"sandy":[113],"demonstrate":[115],"ability":[117],"this":[119],"approach":[120],"differentiate":[122],"between":[123],"safe,":[124],"compact":[125],"hazardous,":[127],"loose":[128],"terrain.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
