{"id":"https://openalex.org/W2034377167","doi":"https://doi.org/10.1109/iros.2012.6385638","title":"A practical obstacle detection system for autonomous orchard vehicles","display_name":"A practical obstacle detection system for autonomous orchard vehicles","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2034377167","doi":"https://doi.org/10.1109/iros.2012.6385638","mag":"2034377167"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5034989154","display_name":"Gustavo Freitas","orcid":"https://orcid.org/0000-0001-5343-7028"},"institutions":[{"id":"https://openalex.org/I122140584","display_name":"Universidade Federal do Rio de Janeiro","ror":"https://ror.org/03490as77","country_code":"BR","type":"education","lineage":["https://openalex.org/I122140584"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gustavo Freitas","raw_affiliation_strings":["Department of Electrical Engineering, COPPE/UFRJ, Brazil","[Department of Electrical Engineering, COPPE, Federal University of Rio de Janeiro, Brazil]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, COPPE/UFRJ, Brazil","institution_ids":["https://openalex.org/I122140584"]},{"raw_affiliation_string":"[Department of Electrical Engineering, COPPE, Federal University of Rio de Janeiro, Brazil]","institution_ids":["https://openalex.org/I122140584"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047051325","display_name":"Bradley Hamner","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bradley Hamner","raw_affiliation_strings":["Field Robotics Center, Robotics Institute, Carnegie Mellon University, PA, USA","Field Robotics Center, Robotics Institute, Carnegie Mellon University in Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Field Robotics Center, Robotics Institute, Carnegie Mellon University, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Field Robotics Center, Robotics Institute, Carnegie Mellon University in Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003929816","display_name":"Marcel Bergerman","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcel Bergerman","raw_affiliation_strings":["Field Robotics Center, Robotics Institute, Carnegie Mellon University, PA, USA","Field Robotics Center, Robotics Institute, Carnegie Mellon University in Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Field Robotics Center, Robotics Institute, Carnegie Mellon University, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Field Robotics Center, Robotics Institute, Carnegie Mellon University in Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100641190","display_name":"Sanjiv Singh","orcid":"https://orcid.org/0000-0001-5412-2888"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjiv Singh","raw_affiliation_strings":["Field Robotics Center, Robotics Institute, Carnegie Mellon University, PA, USA","Field Robotics Center, Robotics Institute, Carnegie Mellon University in Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Field Robotics Center, Robotics Institute, Carnegie Mellon University, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Field Robotics Center, Robotics Institute, Carnegie Mellon University in Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6358,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.92307208,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3391","last_page":"3398"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9729999899864197,"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/T12729","display_name":"Tree Root and Stability Studies","score":0.9689000248908997,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/obstacle","display_name":"Obstacle","score":0.780502200126648},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6551123857498169},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5941576361656189},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5332301259040833},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5244281888008118},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5210089683532715},{"id":"https://openalex.org/keywords/orchard","display_name":"Orchard","score":0.4822555184364319},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45794054865837097},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4396597146987915},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43598127365112305},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4288586378097534},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4159570336341858},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.408121258020401},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38007044792175293},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09587833285331726}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.780502200126648},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6551123857498169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5941576361656189},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5332301259040833},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5244281888008118},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5210089683532715},{"id":"https://openalex.org/C2780753983","wikidata":"https://www.wikidata.org/wiki/Q236371","display_name":"Orchard","level":2,"score":0.4822555184364319},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45794054865837097},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4396597146987915},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43598127365112305},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4288586378097534},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4159570336341858},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.408121258020401},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38007044792175293},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09587833285331726},{"id":"https://openalex.org/C144027150","wikidata":"https://www.wikidata.org/wiki/Q48803","display_name":"Horticulture","level":1,"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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.294.3410","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.294.3410","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2012/10/A Practical Obstacle Detection System.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":19,"referenced_works":["https://openalex.org/W123654351","https://openalex.org/W1518927022","https://openalex.org/W1930816583","https://openalex.org/W2095605958","https://openalex.org/W2097345517","https://openalex.org/W2100522187","https://openalex.org/W2113240578","https://openalex.org/W2116937217","https://openalex.org/W2119227765","https://openalex.org/W2123732406","https://openalex.org/W2129950897","https://openalex.org/W2130380037","https://openalex.org/W2138948150","https://openalex.org/W2160099804","https://openalex.org/W2161777942","https://openalex.org/W2163942697","https://openalex.org/W2164772994","https://openalex.org/W6631118651","https://openalex.org/W6683728162"],"related_works":["https://openalex.org/W2112352633","https://openalex.org/W2618632915","https://openalex.org/W4315782950","https://openalex.org/W2186078936","https://openalex.org/W4363647450","https://openalex.org/W282007803","https://openalex.org/W4309562525","https://openalex.org/W2998030597","https://openalex.org/W2965672371","https://openalex.org/W3071460034"],"abstract_inverted_index":{"Safe":[0],"robot":[1,122],"navigation":[2],"in":[3,61,71,161,166,184,191],"tree":[4],"fruit":[5],"orchards":[6,168],"requires":[7],"that":[8,27,38,81,112,195,213],"the":[9,28,39,59,63,72,82,89,97,115,121,144,155,196,207,241],"vehicle":[10,29,40,208],"be":[11,30,41],"capable":[12,217],"of":[13,18,65,77,148,174,218],"robustly":[14],"navigating":[15],"between":[16,74],"rows":[17],"trees":[19],"and":[20,37,49,68,134,136,146,169,186,203,236],"turning":[21],"from":[22],"one":[23],"aisle":[24],"to":[25,43,88,95,100,110,200,237],"another;":[26],"dynamically":[31],"stable,":[32],"especially":[33],"when":[34],"carrying":[35],"workers;":[36],"able":[42,199],"detect":[44,201,238],"obstacles":[45],"on":[46,120,143],"its":[47,51],"way":[48],"adjust":[50],"speed":[52],"accordingly.":[53],"In":[54,154],"this":[55],"paper":[56],"we":[57,107],"address":[58],"latter,":[60],"particular":[62],"problem":[64],"detecting":[66],"people":[67,202,239],"apple":[69,167,189],"bins":[70,204],"aisles":[73,242],"rows.":[75],"One":[76],"our":[78,125,180],"requirements":[79],"is":[80,141,198,215],"obstacle":[83,158,175],"avoidance":[84,159],"subsystem":[85],"shouldn't":[86],"add":[87],"robot's":[90],"hardware":[91],"cost,":[92],"so":[93],"as":[94,102,104,152,222,224,228,230],"keep":[96],"acquisition":[98],"cost":[99],"growers":[101],"low":[103],"possible.":[105],"Therefore,":[106],"confine":[108],"ourselves":[109],"solutions":[111],"use":[113],"only":[114],"sensor":[116],"suite":[117],"already":[118],"installed":[119],"for":[123],"navigation-in":[124],"case,":[126],"a":[127],"laser":[128],"scanner,":[129],"low-cost":[130],"inertial":[131],"measurement":[132],"unit,":[133],"steering":[135],"wheel":[137],"encoders.":[138],"Our":[139],"methodology":[140],"based":[142],"classification":[145],"clustering":[147],"registered":[149],"3D":[150,162],"points":[151],"obstacles.":[153],"current":[156],"implementation,":[157],"takes":[160],"point":[163],"clouds":[164],"collected":[165],"generates":[170],"an":[171,187],"off-line":[172],"assessment":[173],"position.":[176],"Tests":[177],"conducted":[178],"at":[179,243],"experimental":[181],"orchard-like":[182],"environment":[183],"Pittsburgh":[185],"actual":[188],"orchard":[190],"Washington":[192],"state":[193],"indicate":[194,212],"method":[197],"located":[205],"along":[206],"path.":[209],"Stretch":[210],"tests":[211],"it":[214],"also":[216],"dealing":[219],"with":[220],"objects":[221],"small":[223],"15":[225],"cm":[226],"tall":[227],"long":[229],"they":[231],"aren't":[232],"covered":[233],"by":[234],"grass,":[235],"crossing":[240],"walking":[244],"speed.":[245]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
