{"id":"https://openalex.org/W2089436326","doi":"https://doi.org/10.1109/iros.2012.6386118","title":"Creating and using probabilistic costmaps from vehicle experience","display_name":"Creating and using probabilistic costmaps from vehicle experience","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2089436326","doi":"https://doi.org/10.1109/iros.2012.6386118","mag":"2089436326"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386118","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":true,"oa_status":"green","oa_url":"https://eprints.qut.edu.au/52843/18/terrain_mapping.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112687719","display_name":"Liz Murphy","orcid":null},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Liz Murphy","raw_affiliation_strings":["CyPhy Laboratory, Queensland University of Technology, Brisbane, Australia","CyPhy lab, Queensland University of Technology, Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"CyPhy Laboratory, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"CyPhy lab, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105927699","display_name":"Steven Martin","orcid":"https://orcid.org/0000-0002-1849-4331"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Steven Martin","raw_affiliation_strings":["CyPhy Laboratory, Queensland University of Technology, Brisbane, Australia","CyPhy lab, Queensland University of Technology, Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"CyPhy Laboratory, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"CyPhy lab, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080187476","display_name":"Peter Corke","orcid":"https://orcid.org/0000-0001-6650-367X"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Peter Corke","raw_affiliation_strings":["CyPhy Laboratory, Queensland University of Technology, Brisbane, Australia","CyPhy lab, Queensland University of Technology, Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"CyPhy Laboratory, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"CyPhy lab, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5112687719"],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":1.768,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.86985969,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.996999979019165,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9894999861717224,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.8664628267288208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7370792627334595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6316588521003723},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6072369813919067},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5818417072296143},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5263900756835938},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5125386714935303},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4636439383029938},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.43661171197891235},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.42829692363739014},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.08103248476982117}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.8664628267288208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7370792627334595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6316588521003723},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6072369813919067},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5818417072296143},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5263900756835938},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5125386714935303},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4636439383029938},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.43661171197891235},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42829692363739014},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.08103248476982117},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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":2,"locations":[{"id":"doi:10.1109/iros.2012.6386118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386118","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:eprints.qut.edu.au:52843","is_oa":true,"landing_page_url":"http://www.iros2012.org/site/","pdf_url":"https://eprints.qut.edu.au/52843/18/terrain_mapping.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"Chapter in Book, Report or Conference volume"}],"best_oa_location":{"id":"pmh:oai:eprints.qut.edu.au:52843","is_oa":true,"landing_page_url":"http://www.iros2012.org/site/","pdf_url":"https://eprints.qut.edu.au/52843/18/terrain_mapping.pdf","source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"Chapter in Book, Report or Conference volume"},"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2089436326.pdf","grobid_xml":"https://content.openalex.org/works/W2089436326.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W15648187","https://openalex.org/W798127328","https://openalex.org/W1516378081","https://openalex.org/W1977189000","https://openalex.org/W1983644984","https://openalex.org/W2014889099","https://openalex.org/W2036300381","https://openalex.org/W2103054660","https://openalex.org/W2107349834","https://openalex.org/W2109215935","https://openalex.org/W2129298951","https://openalex.org/W2149764047","https://openalex.org/W2152937653","https://openalex.org/W2169528473","https://openalex.org/W2170078560","https://openalex.org/W2187471809","https://openalex.org/W3083605786","https://openalex.org/W4211049957","https://openalex.org/W6600637883","https://openalex.org/W6622737824","https://openalex.org/W6654186649","https://openalex.org/W6684632043"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703","https://openalex.org/W1586572182"],"abstract_inverted_index":{"Probabilistic":[0],"costmaps":[1,25,42],"provide":[2],"a":[3,7,47,51,88,108,138],"means":[4],"of":[5,9,16,80,110,134],"maintaining":[6],"representation":[8],"the":[10,13,17,22,37,78,85,98,104,121,131,135],"uncertainty":[11,29],"in":[12,19,46,54,66,103,120,137],"robot's":[14],"model":[15],"environment;":[18],"contrast":[20],"to":[21,76,87,96,112,129],"ubiquitous":[23],"assumptive":[24],"which":[26],"abstract":[27],"this":[28,32],"away.":[30],"In":[31],"work":[33],"we":[34],"show":[35],"for":[36,141],"first":[38],"time":[39],"how":[40],"probabilistic":[41,132,139],"can":[43,150],"be":[44,152],"learned":[45],"self-supervised":[48],"manner":[49],"by":[50,84],"robot":[52,86],"navigating":[53],"an":[55],"outdoor":[56],"environment.":[57],"Traversability":[58],"estimates":[59],"garnered":[60],"from":[61,71],"onboard":[62],"sensing":[63],"are":[64,94,124],"used":[65,95],"conjunction":[67],"with":[68,114],"colour":[69],"information":[70],"a-priori":[72],"available":[73],"overhead":[74],"imagery":[75],"extrapolate":[77],"traversability":[79,99],"locations":[81,102],"previously":[82],"traversed":[83],"much":[89],"larger":[90],"area.":[91],"Gaussian":[92],"processes":[93],"predict":[97],"at":[100],"unknown":[101],"2D":[105],"map,":[106],"and":[107,117],"number":[109],"techniques":[111],"deal":[113],"heteroscedastic":[115],"noise":[116],"varying":[118],"confidence":[119],"training":[122],"data":[123],"evaluated.":[125],"A":[126],"prior":[127],"technique":[128],"exploit":[130],"nature":[133],"map":[136],"heuristic":[140],"A*":[142],"search":[143],"demonstrates":[144],"that":[145],"planning":[146],"over":[147],"these":[148],"maps":[149],"also":[151],"done":[153],"efficiently.":[154]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
