{"id":"https://openalex.org/W2008910040","doi":"https://doi.org/10.1109/iros.2012.6386283","title":"Ascending stairway modeling: A first step toward autonomous multi-floor exploration","display_name":"Ascending stairway modeling: A first step toward autonomous multi-floor exploration","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2008910040","doi":"https://doi.org/10.1109/iros.2012.6386283","mag":"2008910040"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386283","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386283","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":"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/A5061092430","display_name":"Jeffrey Delmerico","orcid":"https://orcid.org/0000-0002-0169-5946"},"institutions":[{"id":"https://openalex.org/I115441956","display_name":"Buffalo State University","ror":"https://ror.org/05ms04m92","country_code":"US","type":"education","lineage":["https://openalex.org/I115441956"]},{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey A. Delmerico","raw_affiliation_strings":["SUNY Buffalo, USA","SUNY Buffalo (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SUNY Buffalo, USA","institution_ids":["https://openalex.org/I115441956","https://openalex.org/I63190737"]},{"raw_affiliation_string":"SUNY Buffalo (USA)","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079301873","display_name":"Jason J. Corso","orcid":"https://orcid.org/0000-0001-6454-9594"},"institutions":[{"id":"https://openalex.org/I115441956","display_name":"Buffalo State University","ror":"https://ror.org/05ms04m92","country_code":"US","type":"education","lineage":["https://openalex.org/I115441956"]},{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason J. Corso","raw_affiliation_strings":["SUNY Buffalo, USA","SUNY Buffalo (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SUNY Buffalo, USA","institution_ids":["https://openalex.org/I115441956","https://openalex.org/I63190737"]},{"raw_affiliation_string":"SUNY Buffalo (USA)","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018340434","display_name":"David Baran","orcid":null},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Baran","raw_affiliation_strings":["U.S. Army Research Laboratory, USA","[U.S Army Research Laboratory, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"U.S. Army Research Laboratory, USA","institution_ids":["https://openalex.org/I166416128"]},{"raw_affiliation_string":"[U.S Army Research Laboratory, USA]","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041472400","display_name":"Philip David","orcid":"https://orcid.org/0000-0003-4702-482X"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Philip David","raw_affiliation_strings":["U.S. Army Research Laboratory, USA","[U.S Army Research Laboratory, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"U.S. Army Research Laboratory, USA","institution_ids":["https://openalex.org/I166416128"]},{"raw_affiliation_string":"[U.S Army Research Laboratory, USA]","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064257168","display_name":"Julian Ryde","orcid":null},"institutions":[{"id":"https://openalex.org/I115441956","display_name":"Buffalo State University","ror":"https://ror.org/05ms04m92","country_code":"US","type":"education","lineage":["https://openalex.org/I115441956"]},{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Julian Ryde","raw_affiliation_strings":["SUNY Buffalo, USA","SUNY Buffalo (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SUNY Buffalo, USA","institution_ids":["https://openalex.org/I115441956","https://openalex.org/I63190737"]},{"raw_affiliation_string":"SUNY Buffalo (USA)","institution_ids":["https://openalex.org/I63190737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4806","last_page":"4807"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9936000108718872,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/tree-traversal","display_name":"Tree traversal","score":0.8129659295082092},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7476402521133423},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7109474539756775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6346503496170044},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6272223591804504},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6027979850769043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5824729204177856},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5807774662971497},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5776726603507996},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.5772461295127869},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5674422979354858},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4220249056816101},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3463905453681946},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20968374609947205},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0909588634967804}],"concepts":[{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.8129659295082092},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7476402521133423},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7109474539756775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6346503496170044},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6272223591804504},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6027979850769043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5824729204177856},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5807774662971497},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5776726603507996},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.5772461295127869},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5674422979354858},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4220249056816101},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3463905453681946},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20968374609947205},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0909588634967804},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6386283","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386283","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:10.1.1.725.9385","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.725.9385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cse.buffalo.edu/%7Ejryde/publications/IROS12_1909_FI.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1503434271","https://openalex.org/W2100379228","https://openalex.org/W2138313736","https://openalex.org/W2141124675","https://openalex.org/W6680128983"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2049247410","https://openalex.org/W2348074676","https://openalex.org/W2366394613","https://openalex.org/W2152421698","https://openalex.org/W2990193004"],"abstract_inverted_index":{"Many":[0],"robotics":[1],"platforms":[2],"are":[3,124],"capable":[4,70,132],"of":[5,29,38,71,125,133,138,155,172,185,191,199],"ascending":[6,156],"stairways,":[7],"but":[8],"all":[9],"existing":[10],"approaches":[11],"for":[12,22,104],"autonomous":[13,30],"stair":[14],"climbing":[15],"use":[16],"stairway":[17,54,160,174,200],"detection":[18],"as":[19,92,107],"a":[20,39,53,56,76,96,102,113,141,159,173,189,197],"trigger":[21],"immediate":[23],"traversal.":[24],"In":[25],"the":[26,32,49,128,168,183,186],"broader":[27],"context":[28],"exploration,":[31],"ability":[33],"to":[34,61,89,152,166],"travel":[35],"between":[36],"floors":[37],"building":[40],"should":[41],"be":[42,90,119],"compatible":[43],"with":[44],"path":[45,97],"planning,":[46],"such":[47,115],"that":[48,58,83,116,127,145,162,175],"robot":[50],"can":[51,118],"traverse":[52],"at":[55],"time":[57],"is":[59,69,131,176],"appropriate":[60],"its":[62],"navigation":[63],"goals.":[64],"No":[65],"system":[66,136,187],"yet":[67],"presented":[68],"both":[72,203],"localizing":[73,110,196],"stairways":[74,88,106],"on":[75,112],"map":[77],"and":[78,109,158,170,195,205],"estimating":[79],"their":[80],"properties,":[81],"functions":[82],"in":[84,95,188,202],"combination":[85],"would":[86],"enable":[87],"considered":[91],"traversable":[93],"terrain":[94],"planning":[98],"algorithm.":[99],"We":[100],"propose":[101],"method":[103],"modeling":[105,194],"objects":[108],"them":[111],"map,":[114],"they":[117,123],"subsequently":[120],"traversed":[121],"if":[122],"dimensions":[126],"robotic":[129],"platform":[130],"climbing.":[134],"Our":[135],"consists":[137],"two":[139],"parts:":[140],"computationally":[142],"efficient":[143],"detector":[144],"leverages":[146],"geometric":[147],"cues":[148],"from":[149],"depth":[150],"imagery":[151],"detect":[153],"sets":[154],"stairs,":[157],"modeler":[161],"uses":[163],"multiple":[164],"detections":[165],"infer":[167],"location":[169],"parameters":[171],"discovered":[177],"during":[178],"exploration.":[179],"This":[180],"video":[181],"demonstrates":[182],"performance":[184],"number":[190],"real-world":[192],"situations,":[193],"variety":[198],"types":[201],"indoor":[204],"outdoor":[206],"environments.":[207]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"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"}