{"id":"https://openalex.org/W2114684045","doi":"https://doi.org/10.1109/iros.2010.5649136","title":"Mobile robot vision navigation &amp; localization using Gist and Saliency","display_name":"Mobile robot vision navigation &amp; localization using Gist and Saliency","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2114684045","doi":"https://doi.org/10.1109/iros.2010.5649136","mag":"2114684045"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5649136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649136","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5107838344","display_name":"Chin-Kai Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chin-Kai Chang","raw_affiliation_strings":["Department of Computer Science, University of Southern California, Hedco Neuroscience Building - Room 10, 3641 Watt Way, Los Angeles, 90089-2520, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Southern California, Hedco Neuroscience Building - Room 10, 3641 Watt Way, Los Angeles, 90089-2520, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074430410","display_name":"Christian Siagian","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christian Siagian","raw_affiliation_strings":["Department of Computer Science, University of Southern California, Hedco Neuroscience Building - Room 10, 3641 Watt Way, Los Angeles, 90089-2520, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Southern California, Hedco Neuroscience Building - Room 10, 3641 Watt Way, Los Angeles, 90089-2520, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054971726","display_name":"L. Itti","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laurent Itti","raw_affiliation_strings":["Faculty of Computer Science, Psychology, and Neuroscience, University of Southern California, Hedco Neuroscience Building - Room 30A, 3641 Watt Way, Los Angeles, 90089-2520, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Psychology, and Neuroscience, University of Southern California, Hedco Neuroscience Building - Room 30A, 3641 Watt Way, Los Angeles, 90089-2520, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4147","last_page":"4154"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9980000257492065,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9976000189781189,"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":0.802391529083252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7667158842086792},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.6978858709335327},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6873279809951782},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6630985736846924},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.6308085918426514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6181291937828064},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5349629521369934},{"id":"https://openalex.org/keywords/gist","display_name":"GiST","score":0.43668586015701294},{"id":"https://openalex.org/keywords/human-visual-system-model","display_name":"Human visual system model","score":0.42868342995643616},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4012278914451599},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.22639507055282593},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1522824764251709}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.802391529083252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7667158842086792},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6978858709335327},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6873279809951782},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6630985736846924},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.6308085918426514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6181291937828064},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5349629521369934},{"id":"https://openalex.org/C2775922572","wikidata":"https://www.wikidata.org/wiki/Q83567","display_name":"GiST","level":3,"score":0.43668586015701294},{"id":"https://openalex.org/C160086991","wikidata":"https://www.wikidata.org/wiki/Q5939193","display_name":"Human visual system model","level":3,"score":0.42868342995643616},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4012278914451599},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.22639507055282593},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1522824764251709},{"id":"https://openalex.org/C16930146","wikidata":"https://www.wikidata.org/wiki/Q4381253","display_name":"Stromal cell","level":2,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5649136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649136","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.172.7599","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.172.7599","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ilab.usc.edu/publications/doc/Chang_etal10iros.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1607533321","https://openalex.org/W1760883005","https://openalex.org/W1984633131","https://openalex.org/W1987120496","https://openalex.org/W2007079389","https://openalex.org/W2026837771","https://openalex.org/W2092282499","https://openalex.org/W2097124815","https://openalex.org/W2099353192","https://openalex.org/W2099964852","https://openalex.org/W2101753071","https://openalex.org/W2102035832","https://openalex.org/W2103380420","https://openalex.org/W2103393159","https://openalex.org/W2107145440","https://openalex.org/W2108753440","https://openalex.org/W2109757902","https://openalex.org/W2110891895","https://openalex.org/W2114450646","https://openalex.org/W2121926901","https://openalex.org/W2127807804","https://openalex.org/W2128272608","https://openalex.org/W2130103520","https://openalex.org/W2130917470","https://openalex.org/W2132947399","https://openalex.org/W2134446283","https://openalex.org/W2139648144","https://openalex.org/W2144824356","https://openalex.org/W2149363785","https://openalex.org/W2151103935","https://openalex.org/W2154844948","https://openalex.org/W2160584648","https://openalex.org/W2162536300","https://openalex.org/W2175488946","https://openalex.org/W4238857822","https://openalex.org/W6636450498","https://openalex.org/W6646489879","https://openalex.org/W6666318349","https://openalex.org/W6675456536","https://openalex.org/W6679388247","https://openalex.org/W6679410535","https://openalex.org/W6683050684","https://openalex.org/W6959132218"],"related_works":["https://openalex.org/W2324878617","https://openalex.org/W2359581215","https://openalex.org/W3087259005","https://openalex.org/W2512571674","https://openalex.org/W2325192466","https://openalex.org/W2009098253","https://openalex.org/W3087198384","https://openalex.org/W2328408711","https://openalex.org/W3087415296","https://openalex.org/W2022354705"],"abstract_inverted_index":{"We":[0,92],"present":[1],"a":[2,88,107],"vision-based":[3],"navigation":[4,70],"and":[5,29,34,60,85,103,115,130],"localization":[6,54],"system":[7,55,71,95],"using":[8],"two":[9],"biologically-inspired":[10],"scene":[11],"understanding":[12],"models":[13],"which":[14,24,38],"are":[15],"studied":[16],"from":[17],"human":[18],"visual":[19,41,78],"capabilities:":[20],"(1)":[21],"Gist":[22],"model":[23,37],"captures":[25],"the":[26,40,50,53,57,66,69,73,94,122,134,137],"holistic":[27],"characteristics":[28],"layout":[30],"of":[31,43,110,133,136],"an":[32,101],"image":[33],"(2)":[35],"Saliency":[36],"emulates":[39],"attention":[42],"primates":[44],"to":[45,63,76,81,87,126],"identify":[46],"conspicuous":[47],"regions":[48,62,75],"in":[49,100],"image.":[51],"Here":[52],"utilizes":[56],"gist":[58],"features":[59],"salient":[61,74],"accurately":[64],"localize":[65],"robot,":[67,98],"while":[68],"uses":[72],"perform":[77],"feedback":[79],"control":[80],"direct":[82],"its":[83],"heading":[84],"go":[86],"user-provided":[89],"goal":[90],"location.":[91],"tested":[93],"on":[96],"our":[97],"Beobot2.0,":[99],"indoor":[102],"outdoor":[104],"environment":[105],"with":[106],"route":[108],"length":[109],"36.67m":[111],"(10,890":[112],"video":[113],"frames)":[114],"138.27m":[116],"(28,971":[117],"frames),":[118],"respectively.":[119],"On":[120],"average,":[121],"robot":[123],"is":[124],"able":[125],"drive":[127],"within":[128],"3.68cm":[129],"8.78cm":[131],"(respectively)":[132],"center":[135],"lane.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
