{"id":"https://openalex.org/W2042465700","doi":"https://doi.org/10.1109/iros.2010.5650189","title":"Trail following with omnidirectional vision","display_name":"Trail following with omnidirectional vision","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2042465700","doi":"https://doi.org/10.1109/iros.2010.5650189","mag":"2042465700"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650189","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/A5007560067","display_name":"Craig Rasmussen","orcid":"https://orcid.org/0000-0003-4344-4800"},"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":"C Rasmussen","raw_affiliation_strings":["Department of Computer & Information Sciences, 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":"Department of Computer & Information Sciences, 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":["Department of Computer & Information Sciences, 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":"Department of Computer & Information Sciences, 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":"M Kocamaz","raw_affiliation_strings":["Department of Computer & Information Sciences, 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":"Department of Computer & Information Sciences, 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":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"829","last_page":"836"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.852089524269104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.791670560836792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.68211829662323},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5797601342201233},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5757554769515991},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4980170726776123},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4736829102039337},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4683959484100342},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.45901361107826233},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.4584171175956726},{"id":"https://openalex.org/keywords/brightness","display_name":"Brightness","score":0.44876739382743835},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3225941061973572},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.23978716135025024},{"id":"https://openalex.org/keywords/antenna","display_name":"Antenna (radio)","score":0.08517712354660034}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.852089524269104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.791670560836792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.68211829662323},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5797601342201233},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5757554769515991},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4980170726776123},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4736829102039337},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4683959484100342},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.45901361107826233},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.4584171175956726},{"id":"https://openalex.org/C125245961","wikidata":"https://www.wikidata.org/wiki/Q221656","display_name":"Brightness","level":2,"score":0.44876739382743835},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3225941061973572},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.23978716135025024},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.08517712354660034},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5650189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650189","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:10.1.1.457.3013","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.457.3013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://vision.cis.udel.edu/pubs/2010/RLK10/iros2010.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W97351935","https://openalex.org/W107751551","https://openalex.org/W115994839","https://openalex.org/W802981072","https://openalex.org/W1424654272","https://openalex.org/W1583194113","https://openalex.org/W1590580724","https://openalex.org/W2019356226","https://openalex.org/W2033819227","https://openalex.org/W2055207897","https://openalex.org/W2069390654","https://openalex.org/W2104125540","https://openalex.org/W2108753440","https://openalex.org/W2114063025","https://openalex.org/W2120789862","https://openalex.org/W2121806728","https://openalex.org/W2121926901","https://openalex.org/W2125240024","https://openalex.org/W2125310925","https://openalex.org/W2130103520","https://openalex.org/W2134531034","https://openalex.org/W2150554841","https://openalex.org/W2154844948","https://openalex.org/W2154871086","https://openalex.org/W2162253476","https://openalex.org/W2165284796","https://openalex.org/W2168720173","https://openalex.org/W2336416123","https://openalex.org/W2406067508","https://openalex.org/W2547182511","https://openalex.org/W2562622148","https://openalex.org/W2611243847","https://openalex.org/W2802833655","https://openalex.org/W3021282624","https://openalex.org/W3083265500","https://openalex.org/W3142014825","https://openalex.org/W3212743282","https://openalex.org/W4255333169","https://openalex.org/W4293682399","https://openalex.org/W6604701435","https://openalex.org/W6622792943","https://openalex.org/W6634591404","https://openalex.org/W6655231725","https://openalex.org/W6658838613","https://openalex.org/W6679388247","https://openalex.org/W6703161083"],"related_works":["https://openalex.org/W1199221162","https://openalex.org/W2006169798","https://openalex.org/W1821262254","https://openalex.org/W1545425497","https://openalex.org/W2554592351","https://openalex.org/W1999272028","https://openalex.org/W1986336926","https://openalex.org/W2950629728","https://openalex.org/W2028864324","https://openalex.org/W2156168935"],"abstract_inverted_index":{"We":[0],"describe":[1],"a":[2,13,56,72,81,99],"system":[3],"which":[4,124],"follows":[5],"\u201ctrails\u201d":[6],"for":[7,85],"autonomous":[8],"outdoor":[9],"robot":[10,92],"navigation.":[11],"Through":[12],"combination":[14],"of":[15,59,66],"visual":[16,104],"cues":[17],"provided":[18],"by":[19],"stereo":[20],"omnidirectional":[21],"color":[22,67],"cameras":[23],"and":[24,34,45,68,75,91,112,130,139,154],"ladar-based":[25],"structural":[26,155],"information,":[27],"the":[28,78,86,126],"algorithm":[29],"is":[30,52,121,145],"able":[31],"to":[32,95,133],"detect":[33],"track":[35],"rough":[36],"paths":[37],"despite":[38],"widely":[39],"varying":[40],"tread":[41],"material,":[42],"border":[43],"vegetation,":[44],"illumination":[46],"conditions.":[47],"The":[48],"approaching":[49],"trail":[50,89,127],"region":[51,74,90],"simply":[53],"modeled":[54],"as":[55],"circular":[57],"arc":[58],"constant":[60],"width.":[61],"Using":[62],"an":[63],"adaptive":[64],"measure":[65],"brightness":[69],"contrast":[70],"between":[71],"hypothetical":[73],"flanking":[76],"areas,":[77],"tracker":[79,107],"performs":[80],"robust":[82],"randomized":[83],"search":[84],"most":[87],"likely":[88],"pose":[93],"relative":[94],"it":[96],"with":[97,151],"no":[98],"priori":[100],"appearance":[101,153],"model.":[102],"Stereo":[103],"odometry":[105],"improves":[106],"dynamics":[108],"on":[109,147],"uneven":[110],"terrain":[111],"permits":[113],"local":[114,131],"obstacle":[115],"map":[116,132],"maintenance.":[117],"A":[118],"motion":[119],"planner":[120],"also":[122],"described":[123],"takes":[125],"shape":[128],"estimate":[129],"plan":[134],"smooth":[135],"trajectories":[136],"around":[137],"in-trail":[138],"near-trail":[140],"hazards.":[141],"Our":[142],"system's":[143],"performance":[144],"analyzed":[146],"several":[148],"long":[149],"sequences":[150],"diverse":[152],"characteristics":[156],"using":[157],"ground-truth":[158],"segmentations.":[159]},"counts_by_year":[{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
