{"id":"https://openalex.org/W2056447231","doi":"https://doi.org/10.1109/iros.2013.6697101","title":"Augmenting traversability maps with ultra-wideband radar to enhance obstacle detection in vegetated environments","display_name":"Augmenting traversability maps with ultra-wideband radar to enhance obstacle detection in vegetated environments","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2056447231","doi":"https://doi.org/10.1109/iros.2013.6697101","mag":"2056447231"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697101","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/A5090340635","display_name":"Juhana Ahtiainen","orcid":null},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Juhana Ahtiainen","raw_affiliation_strings":["Department of Automation and Systems Technology, Aalto University, Finland","Department of Automation and Systems Technology, Aalto University, Aalto, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Technology, Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"Department of Automation and Systems Technology, Aalto University, Aalto, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060070984","display_name":"Thierry Peynot","orcid":"https://orcid.org/0000-0001-8275-6538"},"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":"Thierry Peynot","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, Australia","[Australian Centre for Field Robot., Univ. of Sydney, Sydney, NSW, Australia]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"[Australian Centre for Field Robot., Univ. of Sydney, Sydney, NSW, Australia]","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102160523","display_name":"Jari Saarinen","orcid":null},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jari Saarinen","raw_affiliation_strings":["Department of Automation and Systems Technology, Aalto University, Finland","Department of Automation and Systems Technology, Aalto University, Aalto, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Technology, Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"Department of Automation and Systems Technology, Aalto University, Aalto, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109856310","display_name":"Steven Scheding","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":"Steven Scheding","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, Australia","[Australian Centre for Field Robot., Univ. of Sydney, Sydney, NSW, Australia]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"[Australian Centre for Field Robot., Univ. of Sydney, Sydney, NSW, Australia]","institution_ids":["https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.9943,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.98367266,"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":"5148","last_page":"5155"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9945999979972839,"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":0.9945999979972839,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10577","display_name":"Hydrology and Sediment Transport Processes","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.912591814994812},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6674724817276001},{"id":"https://openalex.org/keywords/vegetation","display_name":"Vegetation (pathology)","score":0.649033784866333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6338081359863281},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5736263990402222},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5608538389205933},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5403793454170227},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5127428770065308},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4705241918563843},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41314345598220825},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.23379674553871155},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12735667824745178}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.912591814994812},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6674724817276001},{"id":"https://openalex.org/C2776133958","wikidata":"https://www.wikidata.org/wiki/Q7918366","display_name":"Vegetation (pathology)","level":2,"score":0.649033784866333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6338081359863281},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5736263990402222},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5608538389205933},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5403793454170227},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5127428770065308},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4705241918563843},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41314345598220825},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.23379674553871155},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12735667824745178},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6697101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697101","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":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1489760153","https://openalex.org/W1503952391","https://openalex.org/W1504138298","https://openalex.org/W1560270123","https://openalex.org/W1577576189","https://openalex.org/W1607533321","https://openalex.org/W1611476298","https://openalex.org/W1977225473","https://openalex.org/W1996078708","https://openalex.org/W2074582209","https://openalex.org/W2096838415","https://openalex.org/W2106896417","https://openalex.org/W2140515654","https://openalex.org/W2154418813","https://openalex.org/W2158698691","https://openalex.org/W2159136886","https://openalex.org/W4210721732","https://openalex.org/W4252877347","https://openalex.org/W6630133316","https://openalex.org/W6634517433","https://openalex.org/W6636175460","https://openalex.org/W6636450498"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2055301889","https://openalex.org/W4400979532","https://openalex.org/W2376554934","https://openalex.org/W2077790809","https://openalex.org/W2281433634"],"abstract_inverted_index":{"Operating":[0],"in":[1,142],"vegetated":[2,143],"environments":[3],"is":[4,133],"a":[5,89],"major":[6],"challenge":[7],"for":[8,24],"autonomous":[9],"robots.":[10],"Obstacle":[11],"detection":[12,86],"based":[13],"only":[14],"on":[15],"geometric":[16],"features":[17],"causes":[18],"the":[19,52,97,107,111,118,137],"robot":[20],"to":[21,60,95,100,135],"consider":[22],"foliage,":[23],"example,":[25],"small":[26],"grass":[27],"tussocks":[28],"that":[29,121,130],"could":[30],"be":[31,47,61],"easily":[32],"driven":[33],"through,":[34],"as":[35,63],"obstacles.":[36],"Classifying":[37],"vegetation":[38,57],"does":[39],"not":[40],"solve":[41],"this":[42,69,131],"problem":[43,70],"since":[44],"there":[45],"might":[46],"an":[48,64],"obstacle":[49],"hidden":[50],"behind":[51],"vegetation.":[53],"In":[54],"addition,":[55],"dense":[56],"typically":[58],"needs":[59],"considered":[62],"obstacle.":[65],"This":[66],"paper":[67],"addresses":[68],"by":[71,124],"augmenting":[72],"probabilistic":[73,90],"traversability":[74,119,140],"map":[75,105,113,120],"constructed":[76],"from":[77,117],"laser":[78,112],"data":[79,99],"with":[80],"ultra-wideband":[81],"radar":[82,98],"measurements.":[83],"An":[84],"adaptive":[85],"threshold":[87],"and":[88],"sensor":[91],"model":[92],"are":[93,122],"developed":[94],"convert":[96],"occupancy":[101],"probabilities.":[102],"The":[103],"resulting":[104],"captures":[106],"fine":[108],"resolution":[109],"of":[110,139],"but":[114],"clears":[115],"areas":[116],"induced":[123],"obstacle-free":[125],"foliage.":[126],"Experimental":[127],"results":[128],"validate":[129],"method":[132],"able":[134],"improve":[136],"accuracy":[138],"maps":[141],"environments.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}