{"id":"https://openalex.org/W2080796648","doi":"https://doi.org/10.1109/icsmc.2006.384392","title":"Autonomous Learning of Terrain Classification within Imagery for Robot Navigation","display_name":"Autonomous Learning of Terrain Classification within Imagery for Robot Navigation","publication_year":2006,"publication_date":"2006-10-01","ids":{"openalex":"https://openalex.org/W2080796648","doi":"https://doi.org/10.1109/icsmc.2006.384392","mag":"2080796648"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2006.384392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2006.384392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE International Conference on Systems, Man and Cybernetics","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/A5003315670","display_name":"Michael Happold","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142635","display_name":"PATH To Reading","ror":"https://ror.org/0482xmh13","country_code":"US","type":"other","lineage":["https://openalex.org/I4210142635"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael Happold","raw_affiliation_strings":["Applied Perception, Inc., Pittsburgh, PA, USA","Appl. Perception Inc., Pittsburgh"],"affiliations":[{"raw_affiliation_string":"Applied Perception, Inc., Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210142635"]},{"raw_affiliation_string":"Appl. Perception Inc., Pittsburgh","institution_ids":["https://openalex.org/I4210142635"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032957883","display_name":"Mark Ollis","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142635","display_name":"PATH To Reading","ror":"https://ror.org/0482xmh13","country_code":"US","type":"other","lineage":["https://openalex.org/I4210142635"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Ollis","raw_affiliation_strings":["Applied Perception, Inc., Pittsburgh, PA, USA","Appl. Perception Inc., Pittsburgh"],"affiliations":[{"raw_affiliation_string":"Applied Perception, Inc., Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210142635"]},{"raw_affiliation_string":"Appl. Perception Inc., Pittsburgh","institution_ids":["https://openalex.org/I4210142635"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5003315670"],"corresponding_institution_ids":["https://openalex.org/I4210142635"],"apc_list":null,"apc_paid":null,"fwci":0.59157088,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.82751616,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"260","last_page":"266"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998000264167786,"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":0.9997000098228455,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7630515098571777},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.73583984375},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.612495481967926},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.599526584148407},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5830691456794739},{"id":"https://openalex.org/keywords/naive-bayes-classifier","display_name":"Naive Bayes classifier","score":0.46223101019859314},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4530874490737915},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4371558129787445},{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.4131665825843811},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.4100651443004608},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.1785600781440735},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08266052603721619}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7630515098571777},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.73583984375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.612495481967926},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.599526584148407},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5830691456794739},{"id":"https://openalex.org/C52001869","wikidata":"https://www.wikidata.org/wiki/Q812530","display_name":"Naive Bayes classifier","level":3,"score":0.46223101019859314},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4530874490737915},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4371558129787445},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.4131665825843811},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.4100651443004608},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.1785600781440735},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08266052603721619},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsmc.2006.384392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2006.384392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE International Conference on Systems, Man and Cybernetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321672","display_name":"Else Kr\u00f6ner-Fresenius-Stiftung","ror":"https://ror.org/03zcxha54"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W71317631","https://openalex.org/W1490482062","https://openalex.org/W1988790447","https://openalex.org/W2031456685","https://openalex.org/W2124351082","https://openalex.org/W2133233905","https://openalex.org/W2151847636","https://openalex.org/W2164958744","https://openalex.org/W2167034998","https://openalex.org/W2167224731","https://openalex.org/W2171913220","https://openalex.org/W2964334191","https://openalex.org/W4205687621","https://openalex.org/W6640004471","https://openalex.org/W6684338915","https://openalex.org/W6685230110"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W4387731985","https://openalex.org/W2755149878","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W2941808082","https://openalex.org/W2468425257","https://openalex.org/W4312814274","https://openalex.org/W2113164274","https://openalex.org/W2132444301"],"abstract_inverted_index":{"Stereo":[0],"matching":[1],"in":[2,110,190],"unstructured,":[3],"outdoor":[4],"environments":[5,63],"is":[6,40,81,141,232],"often":[7,41],"confounded":[8],"by":[9,78,221],"the":[10,13,27,34,74,101,138,175,240],"complexity":[11],"of":[12,36,62,68,73,87,103,118,134,137,151,192,207,216,239],"scenery":[14],"and":[15,112,127,157,210,224,234,246],"thus":[16],"may":[17],"yield":[18],"only":[19],"sparse":[20],"disparity":[21],"maps.":[22],"Two-dimensional":[23],"visual":[24],"imagery,":[25],"on":[26,122,162],"other":[28],"hand,":[29],"offers":[30],"dense":[31,172],"information":[32,144,173],"about":[33,174],"environment":[35,176,208],"mobile":[37,125],"robots,":[38],"but":[39],"difficult":[42],"to":[43,49,130,181,194,243],"exploit.":[44],"Training":[45],"a":[46,59,65,83,93,104,116,123,132,204],"supervised":[47],"classifier":[48],"identify":[50],"traversable":[51],"regions":[52,183],"within":[53],"images":[54,170],"that":[55],"generalizes":[56],"well":[57],"across":[58,203],"large":[60,205],"variety":[61],"requires":[64],"vast":[66],"corpus":[67],"labeled":[69,165],"examples.":[70],"Autonomous":[71],"learning":[72,96,139],"traversable/untraversable":[75],"distinction":[76,98],"indicated":[77],"scene":[79,217],"appearance":[80],"therefore":[82],"highly":[84],"desirable":[85],"goal":[86],"robot":[88,126,196],"vision.":[89],"We":[90],"describe":[91],"here":[92],"system":[94,108],"for":[95],"this":[97,163],"online":[99,233],"without":[100],"involvement":[102],"human":[105,222],"supervisor.":[106],"The":[107,167],"takes":[109],"imagery":[111,218],"range":[113,147],"data":[114],"from":[115,146],"pair":[117],"stereo":[119,185,193],"cameras":[120],"mounted":[121],"small":[124],"autonomously":[128,164],"learns":[129],"produce":[131,212],"labeling":[133],"scenery.":[135],"Supervision":[136],"process":[140],"entirely":[142],"through":[143],"gathered":[145],"data.":[148],"Two":[149],"types":[150,209],"boosted":[152],"weak":[153],"learners,":[154],"Nearest":[155],"Means":[156],"naive":[158],"Bayes,":[159],"are":[160],"trained":[161],"corpus.":[166],"resulting":[168],"classified":[169],"provide":[171],"which":[177],"can":[178,211],"be":[179],"used":[180],"fill-in":[182],"where":[184],"cannot":[186],"find":[187],"matches":[188],"or":[189],"lieu":[191],"direct":[195],"navigation.":[197],"This":[198],"method":[199],"has":[200],"been":[201],"tested":[202],"array":[206],"very":[213],"accurate":[214],"labelings":[215],"as":[219],"judged":[220],"experts":[223],"compared":[225],"against":[226],"purely":[227],"geometric-based":[228],"labelings.":[229],"Because":[230],"it":[231,236],"rapid,":[235],"eliminates":[237],"some":[238],"problems":[241],"related":[242],"color":[244],"constancy":[245],"dynamic":[247],"environments.":[248]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
