{"id":"https://openalex.org/W2093013061","doi":"https://doi.org/10.1109/iros.2013.6696731","title":"Integrated perception, mapping, and footstep planning for humanoid navigation among 3D obstacles","display_name":"Integrated perception, mapping, and footstep planning for humanoid navigation among 3D obstacles","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2093013061","doi":"https://doi.org/10.1109/iros.2013.6696731","mag":"2093013061"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5002537484","display_name":"Daniel Maier","orcid":"https://orcid.org/0000-0001-7584-7984"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Daniel Maier","raw_affiliation_strings":["Humanoid Robots Lab, University of Freiburg, Germany","Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061082005","display_name":"Christian Lutz","orcid":"https://orcid.org/0000-0001-8698-9902"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Lutz","raw_affiliation_strings":["Humanoid Robots Lab, University of Freiburg, Germany","Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["Humanoid Robots Lab, University of Freiburg, Germany","Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Humanoid Robots Lab., Univ. of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5002537484"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":3.2828,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.91775372,"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":"2658","last_page":"2664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9980999827384949,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.994700014591217,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7810813784599304},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7521183490753174},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7328712344169617},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.724475622177124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6689214706420898},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6554828882217407},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.6292859315872192},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5421338081359863},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.522851288318634},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.50368732213974},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4656197726726532},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.44159069657325745},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4336172342300415},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.41289976239204407},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2982715964317322},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08959841728210449}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7810813784599304},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7521183490753174},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7328712344169617},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.724475622177124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6689214706420898},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6554828882217407},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6292859315872192},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5421338081359863},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.522851288318634},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.50368732213974},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4656197726726532},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.44159069657325745},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4336172342300415},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.41289976239204407},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2982715964317322},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08959841728210449},{"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.649.6074","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.649.6074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hrl.informatik.uni-freiburg.de/papers/maierd13iros.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W137679310","https://openalex.org/W1962169445","https://openalex.org/W1972671602","https://openalex.org/W1986833558","https://openalex.org/W1987648924","https://openalex.org/W1994314082","https://openalex.org/W2037490150","https://openalex.org/W2041094000","https://openalex.org/W2060613652","https://openalex.org/W2073660060","https://openalex.org/W2084959384","https://openalex.org/W2103495448","https://openalex.org/W2109363336","https://openalex.org/W2111005759","https://openalex.org/W2123894592","https://openalex.org/W2125356896","https://openalex.org/W2158070864","https://openalex.org/W2161076907","https://openalex.org/W2163003390","https://openalex.org/W2545385919","https://openalex.org/W2913241063","https://openalex.org/W4249866455","https://openalex.org/W6605594125","https://openalex.org/W6648929087","https://openalex.org/W6660807146","https://openalex.org/W6683620479","https://openalex.org/W7015137406","https://openalex.org/W7055045697"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"In":[0],"this":[1,51],"paper,":[2],"we":[3,103,121],"present":[4],"an":[5,24],"integrated":[6],"navigation":[7,134],"system":[8,30,54,130],"that":[9,81,108],"allows":[10],"humanoid":[11],"robots":[12],"to":[13,35,69,132,143],"autonomously":[14],"navigate":[15],"in":[16,123,135],"unknown,":[17],"cluttered":[18,136],"environments.":[19],"From":[20],"the":[21,32,47,67,73,112,115,118,139],"data":[22],"of":[23,39,46,58,79,83,114],"onboard":[25],"consumer-grade":[26],"depth":[27],"camera,":[28],"our":[29,53,129],"estimates":[31],"robot's":[33],"pose":[34],"compensate":[36],"for":[37,99],"drift":[38],"odometry":[40],"and":[41,63,93,117,138],"maintains":[42],"a":[43,77,105,126],"heightmap":[44],"representation":[45],"environment.":[48],"Based":[49],"on":[50],"model,":[52],"iteratively":[55],"computes":[56],"sequences":[57],"safe":[59],"actions":[60,80],"including":[61],"footsteps":[62],"whole-body":[64],"motions,":[65],"leading":[66],"robot":[68,116,140],"target":[70],"locations.":[71],"Hereby,":[72],"planner":[74],"chooses":[75],"from":[76],"set":[78],"consists":[82],"planar":[84],"footsteps,":[85],"step-over":[86],"actions,":[87],"as":[88,90],"well":[89],"parameterized":[91],"step-onto":[92],"step-down":[94],"actions.":[95],"To":[96],"efficiently":[97],"check":[98],"collisions":[100],"during":[101],"planning,":[102],"developed":[104],"new":[106],"approach":[107],"takes":[109],"into":[110],"account":[111],"shape":[113],"obstacles.":[119],"As":[120],"demonstrate":[122],"experiments":[124],"with":[125],"Nao":[127],"humanoid,":[128],"leads":[131],"robust":[133],"environments":[137],"is":[141],"able":[142],"traverse":[144],"highly":[145],"challenging":[146],"passages.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":7}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}