{"id":"https://openalex.org/W2202099067","doi":"https://doi.org/10.1109/iros.2015.7353424","title":"Discrete-continuous clustering for obstacle detection using stereo vision","display_name":"Discrete-continuous clustering for obstacle detection using stereo vision","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2202099067","doi":"https://doi.org/10.1109/iros.2015.7353424","mag":"2202099067"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5072263481","display_name":"Robert Bichsel","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Robert Bichsel","raw_affiliation_strings":["Autonomous Systems Lab at ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab at ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027373455","display_name":"Paulo Borges","orcid":"https://orcid.org/0000-0001-8137-7245"},"institutions":[{"id":"https://openalex.org/I2799393793","display_name":"Royal Brisbane and Women's Hospital","ror":"https://ror.org/05p52kj31","country_code":"AU","type":"healthcare","lineage":["https://openalex.org/I1302211766","https://openalex.org/I2799393793","https://openalex.org/I2801244131"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Paulo Vinicius Koerich Borges","raw_affiliation_strings":["Royal Brisbane and Women's Hospital, Herston, QLD, AU"],"affiliations":[{"raw_affiliation_string":"Royal Brisbane and Women's Hospital, Herston, QLD, AU","institution_ids":["https://openalex.org/I2799393793"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5072263481"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":1.2755,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.8378352,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":null,"first_page":"538","last_page":"545"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9991000294685364,"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":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.9163503646850586},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.8384993076324463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7434002161026001},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.6393365859985352},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5794408321380615},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5736480951309204},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5630659461021423},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5591445565223694},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5198169946670532},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5057172775268555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4946267306804657},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.45610031485557556},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.429187536239624},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4102991223335266},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38237541913986206},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3650830388069153},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13122910261154175},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11143264174461365}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.9163503646850586},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8384993076324463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7434002161026001},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.6393365859985352},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5794408321380615},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5736480951309204},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5630659461021423},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5591445565223694},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5198169946670532},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5057172775268555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4946267306804657},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.45610031485557556},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.429187536239624},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4102991223335266},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38237541913986206},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3650830388069153},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13122910261154175},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11143264174461365},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7353424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:espace.library.uq.edu.au:UQ:381020","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402388","display_name":"Queensland's institutional digital repository (The University of Queensland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165143802","host_organization_name":"The University of Queensland","host_organization_lineage":["https://openalex.org/I165143802"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1480575511","https://openalex.org/W1774871844","https://openalex.org/W1912649600","https://openalex.org/W1971353513","https://openalex.org/W1984266349","https://openalex.org/W1986940113","https://openalex.org/W1999050017","https://openalex.org/W2043853176","https://openalex.org/W2052604480","https://openalex.org/W2085261163","https://openalex.org/W2089652819","https://openalex.org/W2102724336","https://openalex.org/W2107516554","https://openalex.org/W2119852928","https://openalex.org/W2132092299","https://openalex.org/W2150425096","https://openalex.org/W2159021170","https://openalex.org/W6640185247","https://openalex.org/W6643127608","https://openalex.org/W6675380327"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W3043170174","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W4324119010"],"abstract_inverted_index":{"Efficient":[0],"obstacle":[1,30],"detection":[2,31],"is":[3,32],"a":[4,55,65,80,91,123],"key":[5],"requirement":[6],"for":[7,114,118],"safe":[8],"robot":[9],"navigation.":[10],"We":[11],"consider":[12],"the":[13,38,46,49,52,73,84,96,99,103,109,137,140],"operation":[14],"of":[15,37,48,75,83,105,139],"autonomous":[16,133],"vehicles":[17],"in":[18,90,108],"structured":[19],"industrial":[20],"environments.":[21],"In":[22,68],"such":[23],"scenarios,":[24],"an":[25,35,132],"usual":[26],"way":[27],"to":[28,33,95,126],"perform":[29],"generate":[34],"estimate":[36],"ground":[39,53,97,134],"and":[40],"detect":[41],"elements":[42],"that":[43],"are":[44,64],"on":[45,131],"path":[47],"vehicle,":[50],"using":[51],"as":[54],"spatial":[56],"reference.":[57],"For":[58],"this":[59,69],"task,":[60],"3D":[61,76],"occupancy":[62],"grids":[63,77],"well-know":[66],"solution.":[67],"work":[70],"we":[71,120],"extrapolate":[72],"concept":[74],"by":[78],"considering":[79],"discrete-continuous":[81],"representation":[82],"environment.":[85],"The":[86],"discrete":[87],"nature":[88],"lies":[89],"2D":[92],"grid":[93],"parallel":[94],"whereas":[98],"continuous":[100],"aspect":[101],"represents":[102],"height":[104],"each":[106],"cell":[107],"grid.":[110],"This":[111],"framework":[112],"allows":[113],"very":[115],"efficient":[116],"clustering,":[117],"which":[119],"also":[121],"propose":[122],"novel":[124],"algorithm":[125],"cluster":[127],"potential":[128],"obstacles.":[129],"Experiments":[130],"vehicle":[135],"illustrate":[136],"applicability":[138],"method.":[141]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}