{"id":"https://openalex.org/W2097335114","doi":"https://doi.org/10.1109/iros.2009.5354253","title":"A stereo vision based mapping algorithm for detecting inclines, drop-offs, and obstacles for safe local navigation","display_name":"A stereo vision based mapping algorithm for detecting inclines, drop-offs, and obstacles for safe local navigation","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2097335114","doi":"https://doi.org/10.1109/iros.2009.5354253","mag":"2097335114"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354253","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/A5113624789","display_name":"Aniket Murarka","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aniket Murarka","raw_affiliation_strings":["Computer Science, University of Texas, Austin, USA","Computer Science The University of Texas at Austin, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, University of Texas, Austin, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Computer Science The University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070191324","display_name":"Benjamin Kuipers","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Kuipers","raw_affiliation_strings":["Computer Science and Engineering, University of Michigan, USA","Computer Science and Engineering University of Michigan, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering, University of Michigan, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Computer Science and Engineering University of Michigan, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.9632,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.97959927,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1646","last_page":"1653"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"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":0.9993000030517578,"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/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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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-science","display_name":"Computer science","score":0.7361346483230591},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7026047706604004},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6844862699508667},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6783286333084106},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6256849765777588},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.616576075553894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6142717599868774},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6140739917755127},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5950157642364502},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.5756681561470032},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.5598621368408203},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5059277415275574},{"id":"https://openalex.org/keywords/mobile-mapping","display_name":"Mobile mapping","score":0.4270191192626953},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0943567156791687}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7361346483230591},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7026047706604004},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6844862699508667},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6783286333084106},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6256849765777588},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.616576075553894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6142717599868774},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6140739917755127},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5950157642364502},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.5756681561470032},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.5598621368408203},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5059277415275574},{"id":"https://openalex.org/C2776821279","wikidata":"https://www.wikidata.org/wiki/Q2293902","display_name":"Mobile mapping","level":3,"score":0.4270191192626953},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0943567156791687},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354253","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.591.4254","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.591.4254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.utexas.edu/~ai-lab/pubs/Murarka-iros-09.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310620","display_name":"University of Texas at Austin","ror":"https://ror.org/00hj54h04"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1501506108","https://openalex.org/W1528979467","https://openalex.org/W1556362595","https://openalex.org/W1580195937","https://openalex.org/W1746662645","https://openalex.org/W2064243292","https://openalex.org/W2099065300","https://openalex.org/W2145153951","https://openalex.org/W2151383429","https://openalex.org/W2154419175","https://openalex.org/W2154844948","https://openalex.org/W2156257350","https://openalex.org/W2163003390","https://openalex.org/W2164406796","https://openalex.org/W2165018911","https://openalex.org/W2168186848","https://openalex.org/W2171363519","https://openalex.org/W2396505902","https://openalex.org/W6633288425","https://openalex.org/W6634601158","https://openalex.org/W6666521072","https://openalex.org/W7064691769"],"related_works":["https://openalex.org/W2077648827","https://openalex.org/W2140960507","https://openalex.org/W2053304376","https://openalex.org/W1989826787","https://openalex.org/W2576107656","https://openalex.org/W2950986093","https://openalex.org/W2017300768","https://openalex.org/W1920701206","https://openalex.org/W2181892229","https://openalex.org/W2992634591"],"abstract_inverted_index":{"Mobile":[0],"robots":[1,128],"have":[2],"to":[3,12,49,74,88,97,152],"detect":[4],"and":[5,26,39,85,93,100,103,148],"handle":[6],"a":[7,17,51,56,60,115],"variety":[8],"of":[9,55],"potential":[10],"hazards":[11,29],"navigate":[13],"autonomously.":[14],"We":[15,137],"present":[16],"real-time":[18],"stereo":[19,44],"vision":[20],"based":[21],"mapping":[22],"algorithm":[23,70,140],"for":[24,129],"identifying":[25],"modeling":[27],"various":[28],"in":[30,108,133,145],"urban":[31],"environments":[32,147],"-":[33],"we":[34],"focus":[35],"on":[36,64],"inclines,":[37],"drop-offs,":[38],"obstacles.":[40],"In":[41],"our":[42,139],"algorithm,":[43],"range":[45],"data":[46],"is":[47,71,106],"used":[48,73,124],"construct":[50],"3D":[52,61,77],"model":[53,78],"consisting":[54],"point":[57],"cloud":[58],"with":[59],"grid":[62,112],"overlaid":[63],"top.":[65],"A":[66],"novel":[67],"plane":[68],"fitting":[69],"then":[72],"segment":[75],"the":[76,89,104,150],"into":[79],"distinct":[80],"potentially":[81],"traversable":[82],"ground":[83,153],"regions":[84,102],"fit":[86],"planes":[87,92],"regions.":[90],"The":[91,119],"segments":[94],"are":[95],"analyzed":[96],"identify":[98],"safe":[99,131],"unsafe":[101],"information":[105],"captured":[107],"an":[109],"annotated":[110],"2D":[111],"map":[113,121],"called":[114],"local":[116,135],"safety":[117,120],"map.":[118],"can":[122],"be":[123],"by":[125,142],"wheeled":[126],"mobile":[127],"planning":[130],"paths":[132],"their":[134],"surroundings.":[136],"evaluate":[138],"comprehensively":[141],"testing":[143],"it":[144],"varied":[146],"comparing":[149],"results":[151],"truth":[154],"data.":[155]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}