{"id":"https://openalex.org/W2736373118","doi":"https://doi.org/10.1109/icra.2017.7989227","title":"Depth from stereo polarization in specular scenes for urban robotics","display_name":"Depth from stereo polarization in specular scenes for urban robotics","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2736373118","doi":"https://doi.org/10.1109/icra.2017.7989227","mag":"2736373118"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5011974830","display_name":"Kai Berger","orcid":null},"institutions":[{"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":true,"raw_author_name":"Kai Berger","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043564317","display_name":"Randolph C. Voorhies","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Randolph Voorhies","raw_affiliation_strings":["Via Robotics"],"affiliations":[{"raw_affiliation_string":"Via Robotics","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036099508","display_name":"Larry Matthies","orcid":null},"institutions":[{"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":"Larry H. Matthies","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011974830"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":1.2303,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.86724992,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1966","last_page":"1973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9987000226974487,"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/T12050","display_name":"Optical Polarization and Ellipsometry","score":0.998199999332428,"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/specular-reflection","display_name":"Specular reflection","score":0.7433925271034241},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7036856412887573},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6696897745132446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6279659271240234},{"id":"https://openalex.org/keywords/polarization","display_name":"Polarization (electrochemistry)","score":0.615868091583252},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49292898178100586},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3695441484451294},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.2635973393917084},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14912348985671997}],"concepts":[{"id":"https://openalex.org/C118381688","wikidata":"https://www.wikidata.org/wiki/Q1079524","display_name":"Specular reflection","level":2,"score":0.7433925271034241},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7036856412887573},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6696897745132446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6279659271240234},{"id":"https://openalex.org/C205049153","wikidata":"https://www.wikidata.org/wiki/Q2698605","display_name":"Polarization (electrochemistry)","level":2,"score":0.615868091583252},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49292898178100586},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3695441484451294},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2635973393917084},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14912348985671997},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C147789679","wikidata":"https://www.wikidata.org/wiki/Q11372","display_name":"Physical chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W133709899","https://openalex.org/W1502863503","https://openalex.org/W1960300181","https://openalex.org/W1984472840","https://openalex.org/W1992967753","https://openalex.org/W2006731880","https://openalex.org/W2014758870","https://openalex.org/W2098162762","https://openalex.org/W2106813532","https://openalex.org/W2116086749","https://openalex.org/W2117248802","https://openalex.org/W2121276932","https://openalex.org/W2122715211","https://openalex.org/W2124805725","https://openalex.org/W2124958603","https://openalex.org/W2132139399","https://openalex.org/W2140253355","https://openalex.org/W2143181226","https://openalex.org/W2165101214","https://openalex.org/W2165502294","https://openalex.org/W2200911156","https://openalex.org/W2912864153","https://openalex.org/W6630006084","https://openalex.org/W6651729540","https://openalex.org/W6675054405","https://openalex.org/W6678091343","https://openalex.org/W6678330827","https://openalex.org/W6758747957"],"related_works":["https://openalex.org/W4389501116","https://openalex.org/W2559833131","https://openalex.org/W2730225583","https://openalex.org/W4393899117","https://openalex.org/W2175900582","https://openalex.org/W4388910335","https://openalex.org/W2033029047","https://openalex.org/W4353109604","https://openalex.org/W2123949214","https://openalex.org/W2738017471"],"abstract_inverted_index":{"3-D":[0,70,94],"perception":[1,71,95,108],"of":[2,39,43,55,66,85,106],"scenes":[3],"with":[4,45,91,109,163],"specular":[5,86],"surfaces":[6],"is":[7,24,75],"still":[8],"challenging":[9],"for":[10,16,27,93],"robotics":[11],"applications":[12],"in":[13,69],"urban":[14],"areas,":[15],"both":[17],"active":[18],"and":[19,111,147,166],"passive":[20],"range":[21,38],"sensors;":[22],"there":[23],"a":[25,36],"need":[26],"improved":[28],"solutions":[29],"that":[30,77,153],"work":[31,90],"without":[32],"artificial":[33],"illumination":[34],"over":[35],"wide":[37],"distances.":[40],"The":[41],"advent":[42],"cameras":[44],"microgrid":[46],"polarization":[47,67,78,92,112,127],"filter":[48],"arrays,":[49],"which":[50],"allow":[51],"acquiring":[52],"four":[53],"orientations":[54],"linearly":[56],"polarized":[57],"images":[58,150],"simultaneously,":[59],"has":[60,96],"potential":[61],"to":[62,119,138,151],"make":[63],"the":[64,83,102,126,140,154],"use":[65,145],"information":[68,81],"more":[72],"practical.":[73],"It":[74],"well-known":[76],"can":[79],"provide":[80],"about":[82],"orientation":[84,122],"surfaces;":[87],"however,":[88],"prior":[89,161],"had":[97],"several":[98],"limitations.":[99,167],"We":[100,129,144],"present":[101],"first":[103],"unified":[104],"formulation":[105],"depth":[107,142],"stereo":[110],"by":[113],"extending":[114],"previous":[115],"energy":[116],"minimization":[117],"formulations":[118],"include":[120],"surface":[121],"constraints":[123],"computed":[124],"from":[125],"channels.":[128],"apply":[130],"an":[131],"existing":[132],"quadratic":[133],"pseudo-boolean":[134],"optimization":[135],"(QPBO)":[136],"method":[137,156],"approximate":[139],"optimal":[141],"map.":[143],"synthetic":[146],"real":[148],"indoor/outdoor":[149],"demonstrate":[152],"new":[155],"achieves":[157],"better":[158],"results":[159],"than":[160],"methods,":[162],"fewer":[164],"assumptions":[165]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}