{"id":"https://openalex.org/W2566759406","doi":"https://doi.org/10.1109/iros.2016.7759096","title":"3D graph based stairway detection and localization for mobile robots","display_name":"3D graph based stairway detection and localization for mobile robots","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2566759406","doi":"https://doi.org/10.1109/iros.2016.7759096","mag":"2566759406"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759096","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5065513440","display_name":"Thomas Westfechtel","orcid":"https://orcid.org/0000-0002-3665-5725"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Thomas Westfechtel","raw_affiliation_strings":["New Industry Creation Hatchery Center, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"New Industry Creation Hatchery Center, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055778007","display_name":"Kazunori Ohno","orcid":"https://orcid.org/0000-0003-3958-2901"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori Ohno","raw_affiliation_strings":["New Industry Creation Hatchery Center, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"New Industry Creation Hatchery Center, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071134167","display_name":"B\u00e4rbel Mertsching","orcid":null},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Barbel Mertsching","raw_affiliation_strings":["GET Lab, Paderborn University, Paderborn, Germany"],"affiliations":[{"raw_affiliation_string":"GET Lab, Paderborn University, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113849533","display_name":"Daniel Nickchen","orcid":null},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Nickchen","raw_affiliation_strings":["GET Lab, Paderborn University, Paderborn, Germany"],"affiliations":[{"raw_affiliation_string":"GET Lab, Paderborn University, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101506282","display_name":"Shotaro Kojima","orcid":"https://orcid.org/0000-0003-0042-1764"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shotaro Kojima","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5065513440"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":5.3416,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.95151952,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9911999702453613,"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/stairs","display_name":"Stairs","score":0.8754944205284119},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7179872989654541},{"id":"https://openalex.org/keywords/tread","display_name":"Tread","score":0.7119653224945068},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6992307305335999},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6719741821289062},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.5634394288063049},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5420480966567993},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5318593382835388},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5076354742050171},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.4877260625362396},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4448631703853607},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20861899852752686}],"concepts":[{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.8754944205284119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7179872989654541},{"id":"https://openalex.org/C155296804","wikidata":"https://www.wikidata.org/wiki/Q30329684","display_name":"Tread","level":3,"score":0.7119653224945068},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6992307305335999},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6719741821289062},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.5634394288063049},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5420480966567993},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5318593382835388},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5076354742050171},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.4877260625362396},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4448631703853607},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20861899852752686},{"id":"https://openalex.org/C176933379","wikidata":"https://www.wikidata.org/wiki/Q131877","display_name":"Natural rubber","level":2,"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/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759096","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338075","display_name":"Core Research for Evolutional Science and Technology","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W964443668","https://openalex.org/W1965501493","https://openalex.org/W1999435258","https://openalex.org/W2004982683","https://openalex.org/W2010619462","https://openalex.org/W2044718100","https://openalex.org/W2058515076","https://openalex.org/W2066160569","https://openalex.org/W2082161154","https://openalex.org/W2117547109","https://openalex.org/W2124154128","https://openalex.org/W2124241137","https://openalex.org/W2142696013","https://openalex.org/W2152864241","https://openalex.org/W2171592532","https://openalex.org/W2218056858","https://openalex.org/W2740188808","https://openalex.org/W2750339080","https://openalex.org/W6671403475","https://openalex.org/W6678595553"],"related_works":["https://openalex.org/W2580274291","https://openalex.org/W40550959","https://openalex.org/W2049822280","https://openalex.org/W2082442769","https://openalex.org/W2097798748","https://openalex.org/W2178596988","https://openalex.org/W2029973929","https://openalex.org/W2045255587","https://openalex.org/W3120644063","https://openalex.org/W2047426691"],"abstract_inverted_index":{"Perception":[0],"is":[1,77,80,116],"the":[2,20,63,86,90],"main":[3],"key":[4],"in":[5,89,127],"enabling":[6],"robots":[7],"to":[8,10,28,82],"react":[9],"and":[11,25,61,66,100],"interact":[12],"with":[13],"their":[14],"environment.":[15],"Particularly,":[16],"for":[17,30,43],"multi-floor":[18],"operations,":[19],"robot":[21],"must":[22],"robustly":[23],"detect":[24,49,83,99],"localize":[26,101],"stairs":[27,84],"allow":[29],"safe":[31],"climbing.":[32],"In":[33],"this":[34],"paper,":[35],"we":[36],"develop":[37],"a":[38,50,73,105],"graph-based":[39],"stairway":[40,123],"detection":[41,124],"method":[42],"point":[44,131],"cloud":[45,132],"data,":[46],"that":[47,79,94],"can":[48,97],"large":[51],"variety":[52,106],"of":[53,107,120,129],"stairways.":[54],"Our":[55,113],"approach":[56],"first":[57],"segments":[58],"planar":[59],"regions":[60],"extracts":[62],"stair":[64,67],"tread-":[65],"riser-shaped":[68],"segments.":[69],"With":[70],"these":[71],"segments,":[72],"dynamic":[74],"graph":[75],"model":[76],"initialized":[78],"used":[81],"including":[85,110],"railing":[87],"system":[88,96],"surroundings.":[91],"We":[92],"show":[93],"our":[95],"accurately":[98],"different":[102,108],"stairways":[103],"from":[104],"positions,":[109],"descending":[111],"stairs.":[112],"system's":[114],"accuracy":[115],"higher":[117],"than":[118],"those":[119],"most":[121],"state-of-the-art":[122],"methods":[125],"even":[126],"case":[128],"sparse":[130],"data.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
