{"id":"https://openalex.org/W2157041620","doi":"https://doi.org/10.1109/iros.2011.6095142","title":"Positive and negative obstacle detection using the HLD classifier","display_name":"Positive and negative obstacle detection using the HLD classifier","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2157041620","doi":"https://doi.org/10.1109/iros.2011.6095142","mag":"2157041620"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095142","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5034356674","display_name":"Ryan Morton","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":"Ryan D. Morton","raw_affiliation_strings":["Computer Science and Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103139078","display_name":"Edwin Olson","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":"Edwin Olson","raw_affiliation_strings":["Computer Science and Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering, University of Michigan, Ann Arbor, MI, 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":5.3614,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.95945946,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1579","last_page":"1584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9987999796867371,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.998199999332428,"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/classifier","display_name":"Classifier (UML)","score":0.7992861270904541},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7334984540939331},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6834547519683838},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6429418325424194},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.6387525200843811},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6144281029701233},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.5528610348701477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5081741809844971},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44991302490234375},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.42355862259864807},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4186704754829407},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3667988181114197},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3205612003803253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14448747038841248}],"concepts":[{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.7992861270904541},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7334984540939331},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6834547519683838},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6429418325424194},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.6387525200843811},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6144281029701233},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.5528610348701477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5081741809844971},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44991302490234375},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42355862259864807},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4186704754829407},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3667988181114197},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3205612003803253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14448747038841248},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6095142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095142","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W28531074","https://openalex.org/W146793097","https://openalex.org/W181942421","https://openalex.org/W1538841625","https://openalex.org/W2030021468","https://openalex.org/W2055207897","https://openalex.org/W2089652819","https://openalex.org/W2097335114","https://openalex.org/W2100116220","https://openalex.org/W2100522187","https://openalex.org/W2124651605","https://openalex.org/W2128758960","https://openalex.org/W2145153951","https://openalex.org/W2155487235","https://openalex.org/W2156067790","https://openalex.org/W2167061621","https://openalex.org/W2167903261","https://openalex.org/W2758107681","https://openalex.org/W4235740860","https://openalex.org/W6632154620","https://openalex.org/W6678807794","https://openalex.org/W6682961131"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2967463586","https://openalex.org/W2765830098","https://openalex.org/W1971989957","https://openalex.org/W3157641275","https://openalex.org/W2517338020","https://openalex.org/W2281433634","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W3009037905"],"abstract_inverted_index":{"Autonomous":[0],"robots":[1],"must":[2,34],"be":[3,28,35],"able":[4],"to":[5,85,103],"detect":[6],"hazardous":[7],"terrain":[8,45],"even":[9],"when":[10],"sensor":[11],"data":[12],"is":[13],"noisy":[14],"and":[15,52,61,122],"incomplete.":[16],"In":[17,37],"particular,":[18],"negative":[19,62],"obstacles":[20],"such":[21],"as":[22,92,94],"cliffs":[23],"or":[24],"stairs":[25],"often":[26],"cannot":[27],"sensed":[29],"directly;":[30],"rather,":[31],"their":[32],"presence":[33],"inferred.":[36],"this":[38],"paper,":[39],"we":[40],"describe":[41],"the":[42,79,82,87,90],"height-length-density":[43],"(HLD)":[44],"classifier":[46,65,80],"that":[47,70,124],"generalizes":[48],"some":[49],"prior":[50],"methods":[51],"provides":[53],"a":[54,95],"unified":[55],"mechanism":[56],"for":[57],"detecting":[58],"both":[59],"positive":[60],"obstacles.":[63],"The":[64,76],"utilizes":[66],"three":[67],"novel":[68],"features":[69],"inherently":[71],"deal":[72],"with":[73],"partial":[74],"observability.":[75],"structure":[77],"of":[78,89,97],"allows":[81],"system":[83],"designer":[84],"encode":[86],"capabilities":[88],"vehicle":[91],"well":[93],"notion":[96],"risk,":[98],"making":[99],"our":[100,109,125],"approach":[101,126],"applicable":[102],"virtually":[104],"any":[105],"vehicle.":[106],"We":[107],"evaluate":[108],"method":[110],"in":[111],"an":[112],"indoor/outdoor":[113],"environment,":[114],"which":[115],"includes":[116],"several":[117],"perceptually":[118],"difficult":[119],"real-world":[120],"cases,":[121],"show":[123],"out-performs":[127],"current":[128],"methods.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}