{"id":"https://openalex.org/W1606027243","doi":"https://doi.org/10.1109/icsmc.2004.1401051","title":"Stereo vision terrain modeling for non-planar mobile robot mapping and navigation","display_name":"Stereo vision terrain modeling for non-planar mobile robot mapping and navigation","publication_year":2005,"publication_date":"2005-03-31","ids":{"openalex":"https://openalex.org/W1606027243","doi":"https://doi.org/10.1109/icsmc.2004.1401051","mag":"1606027243"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2004.1401051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2004.1401051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)","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/A5108120651","display_name":"Simon Thompson","orcid":"https://orcid.org/0000-0003-0264-2579"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"S. Thompson","raw_affiliation_strings":["Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Koto-ku, Japan","Digital Human Res. Center, AIST, Koto-ku, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Koto-ku, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Digital Human Res. Center, AIST, Koto-ku, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113812356","display_name":"S. Kagami","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Kagami","raw_affiliation_strings":["Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Koto-ku, Japan","Digital Human Res. Center, AIST, Koto-ku, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Koto-ku, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Digital Human Res. Center, AIST, Koto-ku, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5108120651"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":7.0999,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.9623034,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"6","issue":null,"first_page":"5392","last_page":"5397"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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/computer-vision","display_name":"Computer vision","score":0.8079652786254883},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.759118914604187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.704124391078949},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6940093040466309},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6590726375579834},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.6556476354598999},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5934523344039917},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.5816916227340698},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5543818473815918},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4724310338497162},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4670979380607605},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2880097031593323},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.24023962020874023},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.22680553793907166},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09533780813217163}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8079652786254883},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.759118914604187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.704124391078949},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6940093040466309},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6590726375579834},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.6556476354598999},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5934523344039917},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.5816916227340698},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5543818473815918},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4724310338497162},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4670979380607605},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2880097031593323},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.24023962020874023},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.22680553793907166},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09533780813217163}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsmc.2004.1401051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2004.1401051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1867790672","https://openalex.org/W2137548895","https://openalex.org/W2153707232","https://openalex.org/W2164638305","https://openalex.org/W6639236334","https://openalex.org/W6680196360"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W2089114113","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W2389555968","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W1573859018"],"abstract_inverted_index":{"It":[0],"is":[1],"common":[2],"to":[3,9,77,93],"limit":[4],"the":[5,17,45,52,71],"robot":[6,32,87],"navigation":[7],"problem":[8],"that":[10],"of":[11,51,66],"navigating":[12],"in":[13,28],"2-D":[14],"environments,":[15],"representing":[16],"world":[18],"with":[19],"a":[20,26,30,60],"single":[21],"plane.":[22],"This":[23],"research":[24],"proposes":[25],"system":[27],"which":[29],"mobile":[31],"can":[33,89],"successfully":[34],"detect,":[35],"map":[36],"and":[37,75],"navigate":[38],"through":[39],"environments":[40],"containing":[41],"ramps,":[42],"thus":[43],"overcoming":[44],"planar":[46],"limitation.":[47],"Stereo":[48],"depth":[49],"maps":[50,58,68],"environment":[53],"are":[54],"integrated":[55],"into":[56],"height":[57],"using":[59],"Kalman":[61],"filter":[62],"approach.":[63],"The":[64],"accuracy":[65],"these":[67],"allow":[69],"for":[70],"robot's":[72],"height,":[73],"pitch":[74],"roll":[76],"be":[78,91],"estimated":[79],"as":[80],"it":[81],"travels":[82],"over":[83],"mapped":[84],"terrain.":[85],"Estimated":[86],"attitude":[88],"then":[90],"used":[92],"further":[94],"integrate":[95],"stereo":[96],"vision":[97],"data.":[98]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
