{"id":"https://openalex.org/W2215066518","doi":"https://doi.org/10.1109/iros.2015.7353425","title":"Long range traversable region detection based on superpixels clustering for mobile robots","display_name":"Long range traversable region detection based on superpixels clustering for mobile robots","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2215066518","doi":"https://doi.org/10.1109/iros.2015.7353425","mag":"2215066518"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353425","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/A5036075088","display_name":"Huimin Lu","orcid":"https://orcid.org/0000-0002-6375-581X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]},{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["CN","DE"],"is_corresponding":true,"raw_author_name":"Huimin Lu","raw_affiliation_strings":["College of Mechatronics and Automation, National University of Defense Technology, Changsha, China","Department of Cognitive Systems, University of Tiibingen, Tiibingen, Germany","Department of Cognitive Systems, University of T\u00fcbingen, T\u00fcbingen, Germany, 72076","College of Mechatronics and Automation, National University of De-fense Technology, Changsha, China, 410073"],"affiliations":[{"raw_affiliation_string":"College of Mechatronics and Automation, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"Department of Cognitive Systems, University of Tiibingen, Tiibingen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Department of Cognitive Systems, University of T\u00fcbingen, T\u00fcbingen, Germany, 72076","institution_ids":[]},{"raw_affiliation_string":"College of Mechatronics and Automation, National University of De-fense Technology, Changsha, China, 410073","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108577870","display_name":"Lixing Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lixing Jiang","raw_affiliation_strings":["Department of Cognitive Systems, University of Tiibingen, Tiibingen, Germany","Department of Cognitive Systems, University of T\u00fcbingen, T\u00fcbingen, Germany, 72076"],"affiliations":[{"raw_affiliation_string":"Department of Cognitive Systems, University of Tiibingen, Tiibingen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Department of Cognitive Systems, University of T\u00fcbingen, T\u00fcbingen, Germany, 72076","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004958444","display_name":"Andreas Zell","orcid":"https://orcid.org/0000-0003-3299-2211"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Zell","raw_affiliation_strings":["Department of Cognitive Systems, University of Tiibingen, Tiibingen, Germany","Department of Cognitive Systems, University of T\u00fcbingen, T\u00fcbingen, Germany, 72076"],"affiliations":[{"raw_affiliation_string":"Department of Cognitive Systems, University of Tiibingen, Tiibingen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Department of Cognitive Systems, University of T\u00fcbingen, T\u00fcbingen, Germany, 72076","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5036075088"],"corresponding_institution_ids":["https://openalex.org/I170215575","https://openalex.org/I8087733"],"apc_list":null,"apc_paid":null,"fwci":1.4976,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.8850637,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"111","issue":null,"first_page":"546","last_page":"552"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994000196456909,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9987999796867371,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9976999759674072,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8161271810531616},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6798926591873169},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.6718953847885132},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6509562730789185},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6405128836631775},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6018504500389099},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.48819953203201294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43510836362838745},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.396314799785614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10299831628799438}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8161271810531616},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6798926591873169},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.6718953847885132},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6509562730789185},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6405128836631775},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6018504500389099},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.48819953203201294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43510836362838745},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.396314799785614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10299831628799438},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7353425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353425","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:CiteSeerX.psu:10.1.1.725.5062","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.725.5062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cogsys.cs.uni-tuebingen.de/publikationen/2015/Lu_IROS15.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1233114885","display_name":null,"funder_award_id":"61403409","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3828927958","display_name":null,"funder_award_id":"201306","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5536034166","display_name":"Intrathecal magnetic drug targeting to the central nervous system  with superparamagnetic nanoparticles","funder_award_id":"1403409","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5907228582","display_name":"Utilization of the UAH Mobile Integrated Profiling System to Characterize Boundaries and Adjacent Boundary Layer Properties Associated with Convective Initiation during IHOP 2002","funder_award_id":"0130611","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7499071066","display_name":"Coopertive Uint Study Program inMathematics","funder_award_id":"6115022","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8589651859","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W207503811","https://openalex.org/W1683738024","https://openalex.org/W1912649600","https://openalex.org/W1924453835","https://openalex.org/W1976918375","https://openalex.org/W2024139303","https://openalex.org/W2055784052","https://openalex.org/W2104572919","https://openalex.org/W2114808114","https://openalex.org/W2118246710","https://openalex.org/W2130258210","https://openalex.org/W2131081720","https://openalex.org/W2131810460","https://openalex.org/W2132914434","https://openalex.org/W2143668439","https://openalex.org/W2151400829","https://openalex.org/W2155368608","https://openalex.org/W2163352848","https://openalex.org/W2172196609","https://openalex.org/W2804865177","https://openalex.org/W4232201561","https://openalex.org/W4250315003"],"related_works":["https://openalex.org/W2804364458","https://openalex.org/W4298130764","https://openalex.org/W2132641928","https://openalex.org/W4310225030","https://openalex.org/W2090259340","https://openalex.org/W2083665254","https://openalex.org/W2393816671","https://openalex.org/W2158836806","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Traversable":[0],"region":[1,80,87],"detection":[2,81,139],"is":[3],"important":[4],"for":[5],"autonomous":[6],"visual":[7],"navigation":[8],"of":[9,28,35],"mobile":[10],"robots.":[11],"Only":[12],"short":[13,77],"range":[14,49,78,93,112],"traversable":[15,50,79,86],"regions":[16,51],"can":[17,88,113,128],"be":[18,89,114,130],"detected":[19],"using":[20,53,63],"traditional":[21,120],"methods":[22],"based":[23,82],"on":[24,83],"stereo":[25,36],"vision":[26,135],"because":[27],"the":[29,71,85,100,110,123],"limited":[30],"image":[31,72],"resolution":[32],"and":[33,74,109,140],"baseline":[34],"vision.":[37],"In":[38],"this":[39],"paper,":[40],"we":[41],"propose":[42],"a":[43],"novel":[44],"method":[45,102],"to":[46,69,91],"detect":[47],"long":[48,92],"without":[52],"any":[54],"supervised":[55],"or":[56],"self-supervised":[57],"learning":[58],"process.":[59],"Superpixels":[60],"are":[61],"clustered":[62],"an":[64],"improved":[65,115],"spectral":[66],"clustering":[67,126],"algorithm":[68,127],"segment":[70],"effectively,":[73],"after":[75],"integrating":[76],"u-v-disparity,":[84],"extended":[90],"naturally.":[94],"The":[95],"experimental":[96],"results":[97],"show":[98],"that":[99],"proposed":[101,124],"works":[103],"well":[104],"in":[105,117,132],"different":[106],"outdoor/field":[107],"environments,":[108],"detecting":[111],"greatly":[116],"comparison":[118],"with":[119],"methods.":[121],"Furthermore,":[122],"superpixels":[125],"also":[129],"applied":[131],"other":[133],"robot":[134],"tasks":[136],"like":[137],"road":[138],"object":[141],"recognition.":[142]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
