{"id":"https://openalex.org/W4285102528","doi":"https://doi.org/10.1109/icra46639.2022.9812178","title":"Perception Engine Using a Multi-Sensor Head to Enable High-level Humanoid Robot Behaviors","display_name":"Perception Engine Using a Multi-Sensor Head to Enable High-level Humanoid Robot Behaviors","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102528","doi":"https://doi.org/10.1109/icra46639.2022.9812178"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812178","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"2022 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/A5025904527","display_name":"Bhavyansh Mishra","orcid":"https://orcid.org/0000-0002-4296-3062"},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]},{"id":"https://openalex.org/I83683471","display_name":"University of West Florida","ror":"https://ror.org/002w4zy91","country_code":"US","type":"education","lineage":["https://openalex.org/I83683471"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bhavyansh Mishra","raw_affiliation_strings":["Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","University of West Florida (UWF), Pensacola, FL, USA"],"affiliations":[{"raw_affiliation_string":"Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"University of West Florida (UWF), Pensacola, FL, USA","institution_ids":["https://openalex.org/I83683471"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022581228","display_name":"Duncan Calvert","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]},{"id":"https://openalex.org/I83683471","display_name":"University of West Florida","ror":"https://ror.org/002w4zy91","country_code":"US","type":"education","lineage":["https://openalex.org/I83683471"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Duncan Calvert","raw_affiliation_strings":["Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","University of West Florida (UWF), Pensacola, FL, USA"],"affiliations":[{"raw_affiliation_string":"Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"University of West Florida (UWF), Pensacola, FL, USA","institution_ids":["https://openalex.org/I83683471"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084897809","display_name":"Brendon Ortolano","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]},{"id":"https://openalex.org/I83683471","display_name":"University of West Florida","ror":"https://ror.org/002w4zy91","country_code":"US","type":"education","lineage":["https://openalex.org/I83683471"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendon Ortolano","raw_affiliation_strings":["Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","University of West Florida (UWF), Pensacola, FL, USA"],"affiliations":[{"raw_affiliation_string":"Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"University of West Florida (UWF), Pensacola, FL, USA","institution_ids":["https://openalex.org/I83683471"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080052891","display_name":"Max Asselmeier","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Max Asselmeier","raw_affiliation_strings":["Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502"],"affiliations":[{"raw_affiliation_string":"Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009499549","display_name":"Luke Fina","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]},{"id":"https://openalex.org/I83683471","display_name":"University of West Florida","ror":"https://ror.org/002w4zy91","country_code":"US","type":"education","lineage":["https://openalex.org/I83683471"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luke Fina","raw_affiliation_strings":["Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","University of West Florida (UWF), Pensacola, FL, USA"],"affiliations":[{"raw_affiliation_string":"Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"University of West Florida (UWF), Pensacola, FL, USA","institution_ids":["https://openalex.org/I83683471"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066095462","display_name":"Stephen McCrory","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]},{"id":"https://openalex.org/I83683471","display_name":"University of West Florida","ror":"https://ror.org/002w4zy91","country_code":"US","type":"education","lineage":["https://openalex.org/I83683471"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen McCrory","raw_affiliation_strings":["Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","University of West Florida (UWF), Pensacola, FL, USA"],"affiliations":[{"raw_affiliation_string":"Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"University of West Florida (UWF), Pensacola, FL, USA","institution_ids":["https://openalex.org/I83683471"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048193555","display_name":"Hakk\u0131 Erhan Sevil","orcid":"https://orcid.org/0000-0002-8333-342X"},"institutions":[{"id":"https://openalex.org/I83683471","display_name":"University of West Florida","ror":"https://ror.org/002w4zy91","country_code":"US","type":"education","lineage":["https://openalex.org/I83683471"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hakki Erhan Sevil","raw_affiliation_strings":["University of West Florida (UWF),Pensacola,FL,USA,32514"],"affiliations":[{"raw_affiliation_string":"University of West Florida (UWF),Pensacola,FL,USA,32514","institution_ids":["https://openalex.org/I83683471"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101810887","display_name":"Robert J. Griffin","orcid":null},"institutions":[{"id":"https://openalex.org/I83683471","display_name":"University of West Florida","ror":"https://ror.org/002w4zy91","country_code":"US","type":"education","lineage":["https://openalex.org/I83683471"]},{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Griffin","raw_affiliation_strings":["Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","University of West Florida (UWF), Pensacola, FL, USA"],"affiliations":[{"raw_affiliation_string":"Institute of Human and Machine Cognition (IHMC),Pensacola,FL,USA,32502","institution_ids":["https://openalex.org/I1335578998"]},{"raw_affiliation_string":"University of West Florida (UWF), Pensacola, FL, USA","institution_ids":["https://openalex.org/I83683471"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5025904527"],"corresponding_institution_ids":["https://openalex.org/I1335578998","https://openalex.org/I83683471"],"apc_list":null,"apc_paid":null,"fwci":2.5648,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.90902233,"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":"9251","last_page":"9257"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9983000159263611,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9983000159263611,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9771000146865845,"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":0.9491000175476074,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7524460554122925},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7368703484535217},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6617523431777954},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6505661010742188},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6053739786148071},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5366261601448059},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.5065325498580933},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.49039554595947266},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4842038154602051},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4743413031101227},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4551957845687866},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4367857873439789},{"id":"https://openalex.org/keywords/depth-perception","display_name":"Depth perception","score":0.413221150636673},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.3925410211086273},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3521410822868347},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.12601640820503235},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10673514008522034},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09738853573799133}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7524460554122925},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7368703484535217},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6617523431777954},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6505661010742188},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6053739786148071},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5366261601448059},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.5065325498580933},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.49039554595947266},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4842038154602051},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4743413031101227},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4551957845687866},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4367857873439789},{"id":"https://openalex.org/C52672216","wikidata":"https://www.wikidata.org/wiki/Q1749840","display_name":"Depth perception","level":3,"score":0.413221150636673},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.3925410211086273},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3521410822868347},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.12601640820503235},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10673514008522034},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09738853573799133},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812178","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.4399999976158142,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G4439639956","display_name":null,"funder_award_id":"N00014-19-1-2023","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8149375454","display_name":null,"funder_award_id":"80NSSC20M0197","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2017834396","https://openalex.org/W2555618208","https://openalex.org/W2784067459","https://openalex.org/W2798965597","https://openalex.org/W2809889258","https://openalex.org/W2893890202","https://openalex.org/W2909700717","https://openalex.org/W2949708697","https://openalex.org/W2963400571","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2968296999","https://openalex.org/W2990479855","https://openalex.org/W3012062338","https://openalex.org/W3035461736","https://openalex.org/W3087774910","https://openalex.org/W3095522139","https://openalex.org/W3164399840","https://openalex.org/W4200027865","https://openalex.org/W4298299490","https://openalex.org/W6745673378","https://openalex.org/W6745896446","https://openalex.org/W6748766184","https://openalex.org/W6750838837","https://openalex.org/W6922428622"],"related_works":["https://openalex.org/W2092680635","https://openalex.org/W2160589835","https://openalex.org/W2510234973","https://openalex.org/W2017236227","https://openalex.org/W2416752100","https://openalex.org/W1985796632","https://openalex.org/W4205368567","https://openalex.org/W1770401123","https://openalex.org/W3043596039","https://openalex.org/W2531533028"],"abstract_inverted_index":{"For":[0],"achieving":[1],"significant":[2],"levels":[3],"of":[4,12,58,66,120,148,160],"autonomy,":[5],"legged":[6,44],"robot":[7],"behaviors":[8],"require":[9],"perceptual":[10],"awareness":[11,57],"both":[13,121],"the":[14,48,84,109,161,168,171,176,189],"terrain":[15,162,169],"for":[16,27,43,51],"traversal,":[17],"as":[18,20],"well":[19],"structures":[21],"and":[22,31,55,93,117,123,138,144,156,185],"objects":[23,119],"in":[24,108],"their":[25,59],"surroundings":[26],"planning,":[28],"obstacle":[29],"avoidance,":[30],"high-level":[32],"decision":[33],"making.":[34],"In":[35,152],"this":[36],"work,":[37],"we":[38],"present":[39],"a":[40,79,87,95,100,132],"perception":[41],"engine":[42,177],"robots":[45],"that":[46],"extracts":[47],"necessary":[49],"information":[50],"developing":[52],"semantic,":[53],"contextual,":[54],"metric":[56],"surroundings.":[60],"Our":[61],"custom":[62],"sensor":[63,82],"configuration":[64],"consists":[65],"(1)":[67,183],"an":[68],"active":[69,90,154],"depth":[70,91,139,155],"sensor,":[71],"(2)":[72,186],"two":[73,179],"monocular":[74],"cameras":[75],"looking":[76],"sideways,":[77],"(3)":[78],"passive":[80,157],"stereo":[81,158],"observing":[83],"terrain,":[85],"(4)":[86],"forward":[88],"facing":[89],"camera,":[92],"(5)":[94],"rotating":[96],"3D":[97],"LIDAR":[98,137],"with":[99,136],"large":[101],"vertical":[102],"field-of-view":[103],"(FOV).":[104],"The":[105],"mutual":[106],"overlap":[107],"sensors'":[110],"FOVs":[111],"allows":[112],"us":[113],"to":[114,141,166],"redundantly":[115],"detect":[116],"track":[118,145],"dynamic":[122],"static":[124],"types.":[125],"We":[126,174],"fuse":[127],"class":[128],"masks":[129],"generated":[130],"by":[131],"semantic":[133],"segmentation":[134],"model":[135],"data":[140],"accurately":[142],"identify":[143],"individual":[146],"instances":[147],"dynamically":[149],"moving":[150],"objects.":[151],"parallel,":[153],"streams":[159],"are":[163],"also":[164],"fused":[165],"map":[167],"using":[170,178],"on-board":[172],"GPU.":[173],"evaluate":[175],"different":[180],"humanoid":[181],"behaviors,":[182],"look-and-step":[184],"track-and-follow,":[187],"on":[188],"Boston":[190],"Dynamics":[191],"Atlas.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
