{"id":"https://openalex.org/W1994276298","doi":"https://doi.org/10.1109/iros.2012.6386160","title":"Incorporating geometric information into Gaussian Process terrain models from monocular images","display_name":"Incorporating geometric information into Gaussian Process terrain models from monocular images","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1994276298","doi":"https://doi.org/10.1109/iros.2012.6386160","mag":"1994276298"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386160","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/A5074239282","display_name":"Tariq Abuhashim","orcid":null},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tariq Abuhashim","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, NSW, Australia","Australian Centre for Field Robotics, University of Sydney, NSW, 2006, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, 2006, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004268965","display_name":"Salah Sukkarieh","orcid":"https://orcid.org/0000-0003-1173-9268"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Salah Sukkarieh","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, NSW, Australia","Australian Centre for Field Robotics, University of Sydney, NSW, 2006, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, 2006, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2776,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.55549825,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"15","issue":null,"first_page":"4162","last_page":"4168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991000294685364,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9837999939918518,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6499549150466919},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.6289942264556885},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5884715914726257},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5689867734909058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5498349070549011},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5392282605171204},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5016782283782959},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.481456458568573},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.46940672397613525},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.42023196816444397},{"id":"https://openalex.org/keywords/inverse-gaussian-distribution","display_name":"Inverse Gaussian distribution","score":0.41182518005371094},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3725716471672058},{"id":"https://openalex.org/keywords/distribution","display_name":"Distribution (mathematics)","score":0.2074868083000183},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10708066821098328},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09761545062065125},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08939298987388611}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6499549150466919},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.6289942264556885},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5884715914726257},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5689867734909058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5498349070549011},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5392282605171204},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5016782283782959},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.481456458568573},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.46940672397613525},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.42023196816444397},{"id":"https://openalex.org/C132878287","wikidata":"https://www.wikidata.org/wiki/Q1671727","display_name":"Inverse Gaussian distribution","level":3,"score":0.41182518005371094},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3725716471672058},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.2074868083000183},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10708066821098328},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09761545062065125},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08939298987388611},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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":1,"locations":[{"id":"doi:10.1109/iros.2012.6386160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386160","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2036300381","https://openalex.org/W2037906436","https://openalex.org/W2098626000","https://openalex.org/W2099544223","https://openalex.org/W2110917409","https://openalex.org/W2118428504","https://openalex.org/W2125186487","https://openalex.org/W2131370655","https://openalex.org/W2141265025","https://openalex.org/W2144316038","https://openalex.org/W2158483689","https://openalex.org/W2161019989","https://openalex.org/W3150974724","https://openalex.org/W3186925805","https://openalex.org/W6674582482","https://openalex.org/W6799437036"],"related_works":["https://openalex.org/W4300066510","https://openalex.org/W2056958800","https://openalex.org/W566010457","https://openalex.org/W2600092203","https://openalex.org/W4311388919","https://openalex.org/W4293503520","https://openalex.org/W2803685231","https://openalex.org/W3134152097","https://openalex.org/W2966696655","https://openalex.org/W1971337326"],"abstract_inverted_index":{"This":[0,124],"paper":[1],"presents":[2],"a":[3,79,129],"novel":[4,80],"approach":[5],"to":[6,36,150],"depth":[7,26,39,85,116,134,162],"estimation":[8,117],"from":[9,32,106],"monocular":[10,103],"images":[11,104],"that":[12,55,145],"is":[13,126,148],"based":[14],"on":[15],"the":[16,30,37,41,49,58,61,75,83,132,138,151,157,160,164],"Gaussian":[17,67,120],"Derivative":[18],"Process":[19,68,121],"(GDP)":[20],"formulation.":[21],"We":[22,53,77],"use":[23],"an":[24,46,107],"inverse":[25,38,84,161],"parametrisation":[27],"and":[28,71,86,89,101,137,156,163],"learn":[29,90],"mapping":[31],"image":[33],"pixel":[34],"coordinates":[35],"of":[40,48,60,82],"corresponding":[42],"scene":[43],"point":[44],"given":[45],"estimate":[47],"relative":[50],"camera":[51],"motion.":[52],"show":[54,113,143],"information":[56],"about":[57],"geometry":[59],"measurements":[62],"can":[63],"be":[64],"integrated":[65],"into":[66],"(GP)":[69],"models":[70],"learnt":[72],"jointly":[73],"with":[74],"measurements.":[76],"provide":[78],"formulation":[81],"its":[87],"derivatives":[88],"their":[91],"joint":[92],"distribution.":[93],"Experimental":[94],"results":[95],"are":[96],"presented":[97,127],"using":[98],"synthesised":[99],"examples":[100],"real":[102],"captured":[105],"Unmanned":[108],"Aerial":[109],"Vehicle":[110],"(UAV).":[111],"Results":[112],"improvement":[114,125,147],"in":[115,131],"over":[118],"standard":[119],"Regression":[122],"(GPR).":[123],"by":[128],"reduction":[130],"GP":[133],"prediction":[135],"errors":[136],"predictive":[139],"variance.":[140],"Finally,":[141],"we":[142],"mathematically":[144],"this":[146],"due":[149],"augmented":[152],"derivative":[153],"covariance":[154],"terms":[155],"correlations":[158],"between":[159],"derivatives.":[165]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}