{"id":"https://openalex.org/W4401415894","doi":"https://doi.org/10.1109/icra57147.2024.10610269","title":"Multi-Resolution Planar Region Extraction for Uneven Terrains","display_name":"Multi-Resolution Planar Region Extraction for Uneven Terrains","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415894","doi":"https://doi.org/10.1109/icra57147.2024.10610269"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610269","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5051039437","display_name":"Yinghan Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinghan Sun","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071013046","display_name":"Linfang Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linfang Zheng","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001058965","display_name":"Hua Chen","orcid":"https://orcid.org/0000-0002-4252-8693"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Chen","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5118983736","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-8850-5235"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10837096,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2706","last_page":"2712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6483002305030823},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6010292768478394},{"id":"https://openalex.org/keywords/resolution","display_name":"Resolution (logic)","score":0.5464394092559814},{"id":"https://openalex.org/keywords/extraction","display_name":"Extraction (chemistry)","score":0.5261691808700562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4191201329231262},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3819255232810974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23889702558517456},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.14221453666687012},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13990360498428345},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10372254252433777},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.07490837574005127}],"concepts":[{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6483002305030823},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6010292768478394},{"id":"https://openalex.org/C138268822","wikidata":"https://www.wikidata.org/wiki/Q1051925","display_name":"Resolution (logic)","level":2,"score":0.5464394092559814},{"id":"https://openalex.org/C4725764","wikidata":"https://www.wikidata.org/wiki/Q844704","display_name":"Extraction (chemistry)","level":2,"score":0.5261691808700562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4191201329231262},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3819255232810974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23889702558517456},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.14221453666687012},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13990360498428345},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10372254252433777},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.07490837574005127},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610269","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2000018820","https://openalex.org/W2015149365","https://openalex.org/W2085261163","https://openalex.org/W2108402667","https://openalex.org/W2171363519","https://openalex.org/W2175812528","https://openalex.org/W2772959914","https://openalex.org/W2774366155","https://openalex.org/W2964043193","https://openalex.org/W3003443857","https://openalex.org/W3012062338","https://openalex.org/W3035398346","https://openalex.org/W3041078985","https://openalex.org/W3102715624","https://openalex.org/W3129868681","https://openalex.org/W3206833690","https://openalex.org/W3207637958","https://openalex.org/W4200389411","https://openalex.org/W4200489405","https://openalex.org/W4205430897","https://openalex.org/W4246070010","https://openalex.org/W4312875810","https://openalex.org/W4378696928","https://openalex.org/W4392763392"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W3040494141","https://openalex.org/W4384026392","https://openalex.org/W1977229594"],"abstract_inverted_index":{"This":[0],"paper":[1,74],"studies":[2],"the":[3,44,77,111,134],"problem":[4,19],"of":[5,58,122,133],"extracting":[6,40],"planar":[7,41,68],"regions":[8,42],"in":[9,22,38,72,79],"uneven":[10,153],"terrains":[11,154],"from":[12,43,49],"unordered":[13],"point":[14],"cloud":[15],"measurements.":[16],"Such":[17],"a":[18,66,88],"is":[20],"critical":[21],"various":[23,152],"robotic":[24,28],"applications":[25],"such":[26,51],"as":[27,52],"perceptive":[29],"locomotion.":[30],"While":[31],"existing":[32],"approaches":[33],"have":[34],"shown":[35],"promising":[36],"results":[37],"effectively":[39,150],"environment,":[45],"they":[46],"often":[47],"suffer":[48],"issues":[50],"low":[53],"computational":[54,82],"efficiency":[55,130],"or":[56],"loss":[57],"resolution.":[59],"To":[60],"address":[61],"these":[62],"issues,":[63],"we":[64,109],"propose":[65],"multi-resolution":[67,106,126],"region":[69],"extraction":[70],"strategy":[71],"this":[73],"that":[75],"balances":[76],"accuracy":[78],"boundaries":[80],"and":[81,131,141],"efficiency.":[83],"Our":[84],"method":[85],"begins":[86],"with":[87],"pointwise":[89],"classification":[90],"preprocessing":[91],"module,":[92],"which":[93],"categorizes":[94],"all":[95],"sampled":[96],"points":[97,113],"according":[98],"to":[99,104,124,148],"their":[100],"local":[101],"geometric":[102],"properties":[103],"facilitate":[105],"segmentation.":[107,128],"Subsequently,":[108],"arrange":[110],"categorized":[112],"using":[114],"an":[115,119],"octree,":[116],"followed":[117],"by":[118],"in-depth":[120],"analysis":[121],"nodes":[123],"finish":[125],"plane":[127],"The":[129],"robustness":[132],"proposed":[135],"approach":[136],"are":[137],"verified":[138],"via":[139],"synthetic":[140],"real-world":[142],"experiments,":[143],"demonstrating":[144],"our":[145],"method\u2019s":[146],"ability":[147],"generalize":[149],"across":[151],"while":[155],"maintaining":[156],"real-time":[157],"performance,":[158],"achieving":[159],"frame":[160],"rates":[161],"exceeding":[162],"35":[163],"FPS.":[164]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}