{"id":"https://openalex.org/W2413995699","doi":"https://doi.org/10.1109/icra.2016.7487782","title":"Probabilistic traversability map generation using 3D-LIDAR and camera","display_name":"Probabilistic traversability map generation using 3D-LIDAR and camera","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2413995699","doi":"https://doi.org/10.1109/icra.2016.7487782","mag":"2413995699"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487782","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487782","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5043359305","display_name":"Juil Sock","orcid":"https://orcid.org/0000-0002-5780-4777"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Juil Sock","raw_affiliation_strings":["Agency for Defense Development, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agency for Defense Development, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100708586","display_name":"Jun Kim","orcid":"https://orcid.org/0000-0002-6114-2673"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun Kim","raw_affiliation_strings":["Agency for Defense Development, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agency for Defense Development, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102946685","display_name":"Jihong Min","orcid":"https://orcid.org/0000-0003-4231-0915"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jihong Min","raw_affiliation_strings":["Agency for Defense Development, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agency for Defense Development, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004130063","display_name":"Kiho Kwak","orcid":"https://orcid.org/0000-0003-4911-2292"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kiho Kwak","raw_affiliation_strings":["Agency for Defense Development, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agency for Defense Development, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":60.7426,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.99584223,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5631","last_page":"5637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7804880142211914},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7562612295150757},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7322935461997986},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.652093231678009},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6327345967292786},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6166810989379883},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.590082049369812},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5367589592933655},{"id":"https://openalex.org/keywords/naive-bayes-classifier","display_name":"Naive Bayes classifier","score":0.4548608958721161},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42212772369384766},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.381486177444458},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.32357752323150635},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2625417113304138},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.17853280901908875},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11489278078079224}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7804880142211914},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7562612295150757},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7322935461997986},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.652093231678009},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6327345967292786},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6166810989379883},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.590082049369812},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5367589592933655},{"id":"https://openalex.org/C52001869","wikidata":"https://www.wikidata.org/wiki/Q812530","display_name":"Naive Bayes classifier","level":3,"score":0.4548608958721161},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42212772369384766},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.381486177444458},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32357752323150635},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2625417113304138},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.17853280901908875},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11489278078079224},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487782","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487782","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6700000166893005,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W97351935","https://openalex.org/W1518058488","https://openalex.org/W1519865121","https://openalex.org/W1555309725","https://openalex.org/W1560270123","https://openalex.org/W1611476298","https://openalex.org/W1974868116","https://openalex.org/W1976918375","https://openalex.org/W1985392020","https://openalex.org/W1990004830","https://openalex.org/W1992682085","https://openalex.org/W2008791833","https://openalex.org/W2024052513","https://openalex.org/W2038420319","https://openalex.org/W2059596647","https://openalex.org/W2085567176","https://openalex.org/W2126271496","https://openalex.org/W2134577665","https://openalex.org/W2138534490","https://openalex.org/W2146849452","https://openalex.org/W2154844948","https://openalex.org/W2155054718","https://openalex.org/W2157576380","https://openalex.org/W2157738829","https://openalex.org/W2159132531","https://openalex.org/W2171913220","https://openalex.org/W6631016850","https://openalex.org/W6636175460","https://openalex.org/W6682149278"],"related_works":["https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W3150144014","https://openalex.org/W2166449590","https://openalex.org/W2024135719","https://openalex.org/W2027854881","https://openalex.org/W2153812487","https://openalex.org/W2165094971","https://openalex.org/W2147360910"],"abstract_inverted_index":{"Estimating":[0],"the":[1,61,77,111,148,151,158,161,165,179,199,216],"traversability":[2,38,58,75,123],"of":[3,25,39,63,76,93,160],"rough":[4,41,212],"terrain":[5,78,213],"is":[6,29,97,183],"a":[7,49,81,202,211],"critical":[8],"task":[9,33],"for":[10,56],"an":[11,30],"outdoor":[12],"mobile":[13],"robot.":[14],"While":[15],"classifying":[16],"structured":[17],"environment":[18],"can":[19],"be":[20,54],"learned":[21],"from":[22,48,129],"large":[23],"number":[24],"training":[26,139],"data,":[27],"it":[28],"extremely":[31],"difficult":[32],"to":[34,163,177,214],"learn":[35],"and":[36,79,89,95,120,141,206],"estimate":[37],"unstructured":[40],"terrain.":[42,152],"Moreover,":[43],"in":[44,60,99,184,189],"many":[45,100],"cases":[46],"information":[47,127],"single":[50],"sensor":[51,136,192],"may":[52],"not":[53],"sufficient":[55],"estimating":[57],"reliably":[59],"absence":[62],"artificial":[64],"landmarks":[65],"such":[66],"as":[67,147],"lane":[68],"markings":[69],"or":[70],"curbs.":[71],"Our":[72,108],"approach":[73,109,209],"estimates":[74],"build":[80,121],"2D":[82],"probabilistic":[83,170],"grid":[84],"map":[85],"online":[86],"using":[87,174],"3D-LIDAR":[88,156],"camera.":[90],"The":[91],"combination":[92],"LIDAR":[94],"camera":[96],"favoured":[98],"robotic":[101],"application":[102],"because":[103],"they":[104],"provide":[105],"complementary":[106],"information.":[107],"assumes":[110],"data":[112,140],"captured":[113,128],"by":[114],"these":[115],"two":[116],"sensors":[117],"are":[118,172],"independent":[119],"separate":[122],"maps,":[124],"each":[125,191],"with":[126,134,155,186],"one":[130],"sensor.":[131],"Traversability":[132,153],"estimation":[133,154],"vision":[135],"autonomously":[137],"collects":[138],"update":[142],"classifier":[143],"without":[144],"human":[145],"intervention":[146],"vehicle":[149],"traverse":[150],"measures":[157],"slopes":[159],"ground":[162],"predict":[164],"traversability.":[166],"Two":[167],"independently":[168],"built":[169],"maps":[171],"fused":[173],"Bayes'":[175],"rule":[176],"improve":[178],"detection":[180,217],"performance.":[181,218],"This":[182],"contrast":[185],"other":[187],"methods":[188],"which":[190],"performs":[193],"different":[194],"tasks.":[195],"We":[196],"have":[197],"implemented":[198],"algorithm":[200],"on":[201,210],"UGV(Unmanned":[203],"Ground":[204],"Vehicle)":[205],"tested":[207],"our":[208],"evaluate":[215]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3}],"updated_date":"2026-06-16T09:24:06.705377","created_date":"2025-10-10T00:00:00"}
