{"id":"https://openalex.org/W2144564528","doi":"https://doi.org/10.1109/iros.2003.1250744","title":"Negative obstacle detection by thermal signature","display_name":"Negative obstacle detection by thermal signature","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2144564528","doi":"https://doi.org/10.1109/iros.2003.1250744","mag":"2144564528"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5074075243","display_name":"Larry Matthies","orcid":"https://orcid.org/0000-0002-9045-0181"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"L. Matthies","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory , California Institute of Technology , Pasadena , CA , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , Pasadena , CA , USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038003342","display_name":"Arturo Rankin","orcid":"https://orcid.org/0000-0001-6592-6566"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Rankin","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory , California Institute of Technology , Pasadena , CA , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , Pasadena , CA , USA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5074075243"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":8.2166,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.97319098,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"906","last_page":"913"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9987999796867371,"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"}},{"id":"https://openalex.org/T11963","display_name":"Impact of Light on Environment and Health","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2306","display_name":"Global and Planetary Change"},"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9865999817848206,"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/obstacle","display_name":"Obstacle","score":0.8725796341896057},{"id":"https://openalex.org/keywords/signature","display_name":"Signature (topology)","score":0.703510046005249},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6681179404258728},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5825492143630981},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5743315815925598},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5625907182693481},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5131972432136536},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.496841698884964},{"id":"https://openalex.org/keywords/thermal","display_name":"Thermal","score":0.49148643016815186},{"id":"https://openalex.org/keywords/daylight","display_name":"Daylight","score":0.49093130230903625},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4661487340927124},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.277335524559021},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.20327314734458923},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.18738219141960144},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17907291650772095},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17562943696975708},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.16101327538490295},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1416628658771515},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13642415404319763},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11535331606864929},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08382061123847961}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8725796341896057},{"id":"https://openalex.org/C2779696439","wikidata":"https://www.wikidata.org/wiki/Q7512811","display_name":"Signature (topology)","level":2,"score":0.703510046005249},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6681179404258728},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5825492143630981},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5743315815925598},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5625907182693481},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5131972432136536},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.496841698884964},{"id":"https://openalex.org/C204530211","wikidata":"https://www.wikidata.org/wiki/Q752823","display_name":"Thermal","level":2,"score":0.49148643016815186},{"id":"https://openalex.org/C149277555","wikidata":"https://www.wikidata.org/wiki/Q16491","display_name":"Daylight","level":2,"score":0.49093130230903625},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4661487340927124},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.277335524559021},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20327314734458923},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.18738219141960144},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17907291650772095},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17562943696975708},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.16101327538490295},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1416628658771515},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13642415404319763},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11535331606864929},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08382061123847961},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/iros.2003.1250744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.699999988079071,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W120692042","https://openalex.org/W1483256560","https://openalex.org/W1985257906","https://openalex.org/W1989925218","https://openalex.org/W1996308319","https://openalex.org/W2128758960","https://openalex.org/W2139428042","https://openalex.org/W4238970325","https://openalex.org/W6629005752","https://openalex.org/W7030217447"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W4245435724","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2419012894","https://openalex.org/W2061034917","https://openalex.org/W2055301889","https://openalex.org/W3048570979","https://openalex.org/W1505959757"],"abstract_inverted_index":{"Detecting":[0],"negative":[1,59,88,108,144],"obstacles":[2,60,89],"(ditches,":[3],"potholes,":[4],"and":[5,45],"other":[6,51],"depressions)":[7],"is":[8,31,39,133],"one":[9],"of":[10,36,58,87,161],"the":[11,34,37,55,85,94,98,134,159],"most":[12],"difficult":[13],"problems":[14],"in":[15,70],"perception":[16],"for":[17,106],"autonomous,":[18],"off-road":[19],"navigation.":[20],"Past":[21],"work":[22],"has":[23,155],"largely":[24,40],"relied":[25],"on":[26,33],"range":[27,128],"imagery,":[28],"because":[29,46],"that":[30,84],"based":[32],"geometry":[35],"obstacle,":[38],"insensitive":[41],"to":[42,68,72,113,140,157],"illumination":[43,154],"variables,":[44],"there":[47],"have":[48,115],"not":[49],"been":[50],"reliable":[52],"alternatives.":[53],"However,":[54],"visible":[56],"aspect":[57],"shrinks":[61],"rapidly":[62],"with":[63,138],"range,":[64],"making":[65,100],"them":[66,74],"impossible":[67],"detect":[69],"time":[71],"avoid":[73],"at":[75],"high":[76],"speed.":[77],"To":[78],"relieve":[79],"this":[80],"problem,":[81],"we":[82],"show":[83],"interiors":[86],"generally":[90],"remain":[91],"warmer":[92],"than":[93,125],"surrounding":[95],"terrain":[96],"throughout":[97],"night,":[99],"thermal":[101,123,162],"signature":[102,124,132,163],"a":[103,142],"stable":[104],"property":[105],"night-time":[107],"obstacle":[109,145],"detection.":[110],"Experimental":[111],"results":[112],"date":[114],"achieved":[116],"detection":[117],"distances":[118],"45%":[119],"greater":[120],"by":[121,126],"using":[122,127],"data":[129],"alone.":[130],"Thermal":[131],"first":[135],"known":[136],"observable":[137],"potential":[139,156],"reveal":[141],"deep":[143],"without":[146],"actually":[147],"seeing":[148],"far":[149],"into":[150],"it.":[151],"Modeling":[152],"solar":[153],"extend":[158],"usefulness":[160],"through":[164],"daylight":[165],"hours.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
