{"id":"https://openalex.org/W2108753440","doi":"https://doi.org/10.1109/iros.2009.5354059","title":"Appearance contrast for fast, robust trail-following","display_name":"Appearance contrast for fast, robust trail-following","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2108753440","doi":"https://doi.org/10.1109/iros.2009.5354059","mag":"2108753440"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5005424498","display_name":"Christopher Rasmussen","orcid":null},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Rasmussen","raw_affiliation_strings":["Christopher Rasmussen Yan Lu Mehmet Kocamaz, University of Delaware, Newark, DE, USA","Department of Computer and Information Sciences, University of Delaware, Newark, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Christopher Rasmussen Yan Lu Mehmet Kocamaz, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Department of Computer and Information Sciences, University of Delaware, Newark, USA#TAB#","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100641095","display_name":"Yan Lu","orcid":"https://orcid.org/0000-0003-0043-4012"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Lu","raw_affiliation_strings":["Christopher Rasmussen Yan Lu Mehmet Kocamaz, University of Delaware, Newark, DE, USA","Department of Computer and Information Sciences, University of Delaware, Newark, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Christopher Rasmussen Yan Lu Mehmet Kocamaz, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Department of Computer and Information Sciences, University of Delaware, Newark, USA#TAB#","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035087047","display_name":"Mehmet Kemal Kocamaz","orcid":null},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mehmet Kocamaz","raw_affiliation_strings":["Christopher Rasmussen Yan Lu Mehmet Kocamaz, University of Delaware, Newark, DE, USA","Department of Computer and Information Sciences, University of Delaware, Newark, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Christopher Rasmussen Yan Lu Mehmet Kocamaz, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Department of Computer and Information Sciences, University of Delaware, Newark, USA#TAB#","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"26","issue":null,"first_page":"3505","last_page":"3512"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991000294685364,"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":0.9991000294685364,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7728149890899658},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7617576718330383},{"id":"https://openalex.org/keywords/contrast","display_name":"Contrast (vision)","score":0.6329793930053711},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6316226720809937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6209191083908081},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5878307819366455},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5055367946624756},{"id":"https://openalex.org/keywords/brightness","display_name":"Brightness","score":0.46166473627090454},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.45820000767707825},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.45330461859703064},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4441249370574951},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.43254274129867554},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2939301133155823},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.247606098651886},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.17936161160469055},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.10965621471405029}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7728149890899658},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7617576718330383},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.6329793930053711},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6316226720809937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6209191083908081},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5878307819366455},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5055367946624756},{"id":"https://openalex.org/C125245961","wikidata":"https://www.wikidata.org/wiki/Q221656","display_name":"Brightness","level":2,"score":0.46166473627090454},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.45820000767707825},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.45330461859703064},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4441249370574951},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.43254274129867554},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2939301133155823},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.247606098651886},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.17936161160469055},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.10965621471405029},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W97351935","https://openalex.org/W107596469","https://openalex.org/W107751551","https://openalex.org/W802981072","https://openalex.org/W1583194113","https://openalex.org/W1590899626","https://openalex.org/W1969735849","https://openalex.org/W1972373069","https://openalex.org/W1986062812","https://openalex.org/W1999478155","https://openalex.org/W2019356226","https://openalex.org/W2069390654","https://openalex.org/W2075429750","https://openalex.org/W2097333614","https://openalex.org/W2098908730","https://openalex.org/W2102621940","https://openalex.org/W2104125540","https://openalex.org/W2105303837","https://openalex.org/W2108082645","https://openalex.org/W2108149748","https://openalex.org/W2109618991","https://openalex.org/W2110248298","https://openalex.org/W2110764733","https://openalex.org/W2114063025","https://openalex.org/W2119823327","https://openalex.org/W2120789862","https://openalex.org/W2121806728","https://openalex.org/W2121926901","https://openalex.org/W2121947440","https://openalex.org/W2124351162","https://openalex.org/W2125310925","https://openalex.org/W2134531034","https://openalex.org/W2136444677","https://openalex.org/W2140000690","https://openalex.org/W2143977549","https://openalex.org/W2150554841","https://openalex.org/W2154844948","https://openalex.org/W2159274664","https://openalex.org/W2162253476","https://openalex.org/W2168705645","https://openalex.org/W2171913220","https://openalex.org/W2172174906","https://openalex.org/W2547182511","https://openalex.org/W3083265500","https://openalex.org/W4239269065","https://openalex.org/W4248635988","https://openalex.org/W4255333169","https://openalex.org/W6622792943","https://openalex.org/W6634591404","https://openalex.org/W6635212758","https://openalex.org/W6676515226","https://openalex.org/W6677945368","https://openalex.org/W6683253478","https://openalex.org/W6685190505","https://openalex.org/W6685230110"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4289548859"],"abstract_inverted_index":{"We":[0],"describe":[1],"a":[2,15,67,81,106],"framework":[3],"for":[4,9],"finding":[5],"and":[6,20,43,74,77,86,123,135],"tracking":[7],"\u00bftrails\u00bf":[8],"autonomous":[10],"outdoor":[11],"robot":[12],"navigation.":[13],"Through":[14],"combination":[16],"of":[17,36,70,84],"visual":[18,48],"cues":[19],"ladar-derived":[21],"structural":[22,93,124],"information,":[23],"the":[24,53,142],"algorithm":[25],"is":[26,57,114],"able":[27],"to":[28,100,130],"follow":[29],"paths":[30],"which":[31,98],"pass":[32],"through":[33],"multiple":[34],"zones":[35],"terrain":[37],"smoothness,":[38],"border":[39],"vegetation,":[40],"tread":[41],"material,":[42],"illumination":[44],"conditions.":[45],"Our":[46,111],"shape-based":[47],"trail":[49,55,72],"tracker":[50],"assumes":[51],"that":[52],"approaching":[54],"region":[56,64],"approximately":[58],"triangular":[59],"under":[60],"perspective.":[61],"It":[62],"generates":[63],"hypotheses":[65,97],"from":[66],"learned":[68],"distribution":[69],"expected":[71],"width":[73],"curvature":[75],"variation,":[76],"scores":[78],"them":[79],"using":[80],"robust":[82],"measure":[83],"color":[85],"brightness":[87],"contrast":[88],"with":[89,120],"flanking":[90],"regions.":[91],"The":[92],"component":[94],"analogously":[95],"rewards":[96],"correspond":[99],"empty":[101],"or":[102],"low-density":[103],"regions":[104],"in":[105],"groundstrike-filtered":[107],"ladar":[108],"obstacle":[109],"map.":[110],"system's":[112],"performance":[113,132],"analyzed":[115],"on":[116,141],"several":[117,136],"long":[118],"sequences":[119],"diverse":[121],"appearance":[122],"characteristics.":[125],"Ground-truth":[126],"segmentations":[127],"are":[128,139],"used":[129],"quantify":[131],"where":[133],"available,":[134],"alternative":[137],"algorithms":[138],"compared":[140],"same":[143],"data.":[144]},"counts_by_year":[{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
