{"id":"https://openalex.org/W2025522142","doi":"https://doi.org/10.1109/iros.2013.6696879","title":"High fidelity day/night stereo mapping with vegetation and negative obstacle detection for vision-in-the-loop walking","display_name":"High fidelity day/night stereo mapping with vegetation and negative obstacle detection for vision-in-the-loop walking","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2025522142","doi":"https://doi.org/10.1109/iros.2013.6696879","mag":"2025522142"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696879","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696879","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/A5113698207","display_name":"Max Bajracharya","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Max Bajracharya","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101807671","display_name":"Jeremy Ma","orcid":"https://orcid.org/0000-0002-5625-4152"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeremy Ma","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028206051","display_name":"Matt Malchano","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matt Malchano","raw_affiliation_strings":["Boston Dynamics, Waltham, MA","Boston Dynamics, Waltham, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA","institution_ids":["https://openalex.org/I4210143335"]},{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071374164","display_name":"T. Alex Perkins","orcid":"https://orcid.org/0000-0002-7518-4014"},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Perkins","raw_affiliation_strings":["Boston Dynamics, Waltham, MA","Boston Dynamics, Waltham, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA","institution_ids":["https://openalex.org/I4210143335"]},{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111915942","display_name":"Alfred A. Rizzi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alfred A. Rizzi","raw_affiliation_strings":["Boston Dynamics, Waltham, MA","Boston Dynamics, Waltham, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA","institution_ids":["https://openalex.org/I4210143335"]},{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074075243","display_name":"Larry Matthies","orcid":"https://orcid.org/0000-0002-9045-0181"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Larry Matthies","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5113698207"],"corresponding_institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":41.9612,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.99346244,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3663","last_page":"3670"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9972000122070312,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9926999807357788,"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/computer-science","display_name":"Computer science","score":0.7690358757972717},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7136193513870239},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6963520646095276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6738505363464355},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6406744718551636},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4993464946746826},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.48533931374549866},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4733586311340332},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10571345686912537},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.0993015468120575}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7690358757972717},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7136193513870239},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6963520646095276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6738505363464355},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6406744718551636},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4993464946746826},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.48533931374549866},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4733586311340332},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10571345686912537},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0993015468120575},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696879","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696879","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W70726757","https://openalex.org/W1528979467","https://openalex.org/W1716229439","https://openalex.org/W1836839941","https://openalex.org/W1972267259","https://openalex.org/W1972671602","https://openalex.org/W1987648924","https://openalex.org/W1999050017","https://openalex.org/W2055784052","https://openalex.org/W2082252833","https://openalex.org/W2085287976","https://openalex.org/W2103495448","https://openalex.org/W2113560487","https://openalex.org/W2121806728","https://openalex.org/W2129298951","https://openalex.org/W2133283419","https://openalex.org/W2144564528","https://openalex.org/W2145104993","https://openalex.org/W2145153951","https://openalex.org/W2152864241","https://openalex.org/W2154844948","https://openalex.org/W2156067790","https://openalex.org/W2157041620","https://openalex.org/W2163003390","https://openalex.org/W2166489002","https://openalex.org/W2800830472","https://openalex.org/W3083605786","https://openalex.org/W4232201561","https://openalex.org/W4241543438","https://openalex.org/W4297888977","https://openalex.org/W6637636807","https://openalex.org/W6647424575"],"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/W4294690775","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W2891167363"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,12,61,72],"stereo":[4,39],"vision":[5],"near-field":[6],"terrain":[7],"mapping":[8,30,89],"system":[9,31,83,90],"used":[10],"by":[11,49],"Legged":[13],"Squad":[14],"Support":[15],"System":[16],"(LS3)":[17],"quadruped":[18],"vehicle":[19,62,73],"to":[20,63,74],"automatically":[21],"adjust":[22],"its":[23],"gait":[24],"in":[25,103],"complex":[26],"natural":[27],"terrain.":[28],"The":[29,88],"achieves":[32],"high":[33],"robustness":[34],"with":[35,95],"a":[36,50,104],"combination":[37],"of":[38,57,68,100,107],"model-based":[40],"outlier":[41],"rejection":[42],"and":[43,45,98,109],"spatial":[44],"temporal":[46],"filtering,":[47],"enabled":[48],"unique":[51],"hybrid":[52],"2D/3D":[53],"data":[54],"structure.":[55],"Classification":[56],"sparse":[58],"structures":[59],"allows":[60,71],"traverse":[64],"through":[65],"vegetation.":[66],"Inference":[67],"negative":[69],"obstacles":[70],"avoid":[75],"steep":[76],"drop-offs.":[77],"A":[78],"custom":[79],"designed":[80],"near-infrared":[81],"illumination":[82],"enables":[84],"operation":[85],"at":[86],"night.":[87],"has":[91],"been":[92],"tested":[93],"extensively":[94],"controlled":[96],"experiments":[97],"72km":[99],"field":[101],"testing":[102],"wide":[105],"variety":[106],"terrains":[108],"conditions.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}