{"id":"https://openalex.org/W4285102262","doi":"https://doi.org/10.1109/icra46639.2022.9812296","title":"Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization","display_name":"Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102262","doi":"https://doi.org/10.1109/icra46639.2022.9812296"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812296","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":true,"oa_status":"green","oa_url":"https://bia.unibz.it/esploro/outputs/conferenceProceeding/Unsupervised-Learning-of-Terrain-Representations-for/991006785894501241","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003877386","display_name":"Miko\u0142aj \u0141ysakowski","orcid":"https://orcid.org/0000-0003-4745-9399"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Mikolaj Lysakowski","raw_affiliation_strings":["Institute of Robotics and Machine Intelligence, Poznan University of Technology,Poznan,Poland","Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Machine Intelligence, Poznan University of Technology,Poznan,Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083702234","display_name":"Micha\u0142 Nowicki","orcid":"https://orcid.org/0000-0002-2299-9025"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Michal R. Nowicki","raw_affiliation_strings":["Institute of Robotics and Machine Intelligence, Poznan University of Technology,Poznan,Poland","Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Machine Intelligence, Poznan University of Technology,Poznan,Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065670640","display_name":"Russell Buchanan","orcid":"https://orcid.org/0000-0001-9172-5856"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Russell Buchanan","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK","Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061050995","display_name":"Marco Camurri","orcid":"https://orcid.org/0000-0003-2675-9421"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Marco Camurri","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK","Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK","Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023007633","display_name":"Krzysztof Walas","orcid":"https://orcid.org/0000-0002-2800-2716"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Krzysztof Walas","raw_affiliation_strings":["Institute of Robotics and Machine Intelligence, Poznan University of Technology,Poznan,Poland","Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Machine Intelligence, Poznan University of Technology,Poznan,Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5003877386"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":0.3136,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.49403721,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4642","last_page":"4648"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12205","display_name":"Time Series Analysis and Forecasting","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9531999826431274,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7781778573989868},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.762853741645813},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7300481796264648},{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.6793854236602783},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6465347409248352},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.64317786693573},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6157423853874207},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5392206311225891},{"id":"https://openalex.org/keywords/supervised-learning","display_name":"Supervised learning","score":0.4628296196460724},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4502675533294678},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3659312129020691},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.3052220940589905},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26842594146728516},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.1616327166557312}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7781778573989868},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.762853741645813},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7300481796264648},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.6793854236602783},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6465347409248352},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.64317786693573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6157423853874207},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5392206311225891},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.4628296196460724},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4502675533294678},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3659312129020691},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.3052220940589905},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26842594146728516},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.1616327166557312},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra46639.2022.9812296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812296","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"},{"id":"pmh:oai:iris.unitn.it:11572/433291","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/9812296","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:5729c2b2-23f5-4df5-b775-e2b595bf3c65","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:5729c2b2-23f5-4df5-b775-e2b595bf3c65","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements","raw_type":"Conference item"},{"id":"pmh:oai:unibz.it:11316907550001241","is_oa":true,"landing_page_url":"https://bia.unibz.it/esploro/outputs/conferenceProceeding/Unsupervised-Learning-of-Terrain-Representations-for/991006785894501241","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Proceedings"}],"best_oa_location":{"id":"pmh:oai:unibz.it:11316907550001241","is_oa":true,"landing_page_url":"https://bia.unibz.it/esploro/outputs/conferenceProceeding/Unsupervised-Learning-of-Terrain-Representations-for/991006785894501241","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Proceedings"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5899999737739563,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1635435710","https://openalex.org/W2050493487","https://openalex.org/W2122538988","https://openalex.org/W2303829726","https://openalex.org/W2328893732","https://openalex.org/W2471969791","https://openalex.org/W2768737714","https://openalex.org/W2908510526","https://openalex.org/W2913921102","https://openalex.org/W2914633272","https://openalex.org/W2947966716","https://openalex.org/W3001473907","https://openalex.org/W3022149656","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3132172041","https://openalex.org/W3132411614","https://openalex.org/W3195621522","https://openalex.org/W3196630721","https://openalex.org/W3209176733","https://openalex.org/W4230475428","https://openalex.org/W4250058668","https://openalex.org/W6757817989","https://openalex.org/W7014782513"],"related_works":["https://openalex.org/W2159052453","https://openalex.org/W3013693939","https://openalex.org/W2566616303","https://openalex.org/W3131327266","https://openalex.org/W4297051394","https://openalex.org/W2752972570","https://openalex.org/W2734887215","https://openalex.org/W2803255133","https://openalex.org/W2909431601","https://openalex.org/W4292947472"],"abstract_inverted_index":{"Haptic":[0],"sensing":[1,30],"has":[2,145],"recently":[3],"been":[4],"used":[5],"effectively":[6],"for":[7,97,154,175],"legged":[8],"robot":[9],"localization":[10,69,133],"in":[11,85],"extreme":[12],"scenarios":[13],"where":[14,54],"cam-eras":[15],"and":[16,24,38,57,116],"LiDAR":[17],"might":[18],"fail,":[19],"such":[20],"as":[21],"dusty":[22],"mines":[23],"foggy":[25],"sewers.":[26],"However,":[27],"existing":[28],"haptic":[29,68,132],"mainly":[31],"relies":[32],"on":[33,72,112,136,166],"supervised":[34,137,152],"classification,":[35,139],"with":[36],"training":[37],"evaluation":[39],"executed":[40],"over":[41],"explicit":[42],"terrain":[43,76,95,138],"classes.":[44],"Defining":[45],"classes":[46,59],"is":[47,173],"a":[48,66,73,107,131,176],"significant":[49],"limitation":[50],"to":[51,105,117,130],"real-world":[52],"applications,":[53],"prior":[55],"labelling":[56],"handcrafted":[58],"are":[60],"often":[61],"impractical.":[62],"This":[63],"paper":[64],"proposes":[65],"novel":[67],"system":[70,134],"based":[71,135],"fully":[74],"unsupervised":[75,143],"representation":[77],"learned":[78],"solely":[79],"from":[80],"the":[81,86,93,113,142,151,155,161,167,170,181],"force/torque":[82],"sensors":[83],"located":[84],"quadruped":[87],"robot's":[88],"feet.":[89],"Instead":[90],"of":[91,110],"using":[92],"detected":[94],"class":[96],"localization,":[98],"we":[99],"propose":[100],"an":[101],"improved":[102],"autoencoder":[103],"architecture":[104],"generate":[106],"sparse":[108,121],"map":[109,122],"encodings":[111],"first":[114],"run":[115],"localize":[118],"against":[119],"this":[120],"during":[123],"subsequent":[124],"runs.":[125],"We":[126],"compare":[127],"our":[128],"approach":[129,172],"showing":[140],"that":[141],"method":[144],"comparable":[146],"or":[147],"better":[148],"performance":[149],"than":[150],"one":[153],"same":[156],"trajectories":[157],"while":[158],"clearly":[159],"outperforming":[160],"proprioceptive":[162],"odometry":[163],"estimator":[164],"available":[165],"robot.":[168],"Therefore,":[169],"proposed":[171],"well-suited":[174],"routine":[177],"maintenance":[178],"application,":[179],"increasing":[180],"platform's":[182],"robustness.":[183]},"counts_by_year":[{"year":2023,"cited_by_count":3}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2022-07-14T00:00:00"}
