{"id":"https://openalex.org/W4312564003","doi":"https://doi.org/10.1109/iros47612.2022.9981412","title":"Visual Environment perception for obstacle detection and crossing of lower-limb exoskeletons","display_name":"Visual Environment perception for obstacle detection and crossing of lower-limb exoskeletons","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312564003","doi":"https://doi.org/10.1109/iros47612.2022.9981412"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981412","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981412","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5077871771","display_name":"Manoj Ramanathan","orcid":"https://orcid.org/0000-0001-5860-5342"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Manoj Ramanathan","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051343704","display_name":"Lincong Luo","orcid":"https://orcid.org/0000-0002-8457-7995"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lincong Luo","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007777444","display_name":"Jie Kai Er","orcid":"https://orcid.org/0000-0001-5538-6084"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jie Kai Er","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065183422","display_name":"Ming Jeat Foo","orcid":"https://orcid.org/0000-0002-2827-9985"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ming Jeat Foo","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050425206","display_name":"Chye Hsia Chiam","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chye Hsia Chiam","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100696012","display_name":"Lei Li","orcid":"https://orcid.org/0000-0001-9122-5317"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lei Li","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057104857","display_name":"Wei\u2010Yun Yau","orcid":"https://orcid.org/0000-0001-5709-9169"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]},{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wei Yun Yau","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore","Institute for Infocomm Research, A *STAR, Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Institute for Infocomm Research, A *STAR, Singapore","institution_ids":["https://openalex.org/I3005327000","https://openalex.org/I115228651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002794481","display_name":"Wei Tech Ang","orcid":"https://orcid.org/0000-0002-5778-7719"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wei Tech Ang","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","School of Mechanical and Aerospace Engineering, NTU, Singapore","Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU),Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, NTU, Singapore","institution_ids":[]},{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Nanyang Technological University (NTU), Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5077871771"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":3.5283,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.94797601,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12267","last_page":"12274"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11227","display_name":"Diabetic Foot Ulcer Assessment and Management","score":0.9703999757766724,"subfield":{"id":"https://openalex.org/subfields/2712","display_name":"Endocrinology, Diabetes and Metabolism"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.8517369031906128},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7935789227485657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7268061637878418},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7033916711807251},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6595655679702759},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.5984824895858765},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4498434066772461},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.43045899271965027},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4293714165687561},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.4206749200820923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2620500922203064},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24860098958015442},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.19962945580482483},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.15288347005844116},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1280466914176941}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8517369031906128},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7935789227485657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7268061637878418},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7033916711807251},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6595655679702759},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.5984824895858765},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4498434066772461},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.43045899271965027},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4293714165687561},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.4206749200820923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2620500922203064},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24860098958015442},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.19962945580482483},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.15288347005844116},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1280466914176941},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981412","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981412","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1914429872","https://openalex.org/W1965107013","https://openalex.org/W2090995864","https://openalex.org/W2112130993","https://openalex.org/W2125895779","https://openalex.org/W2529432382","https://openalex.org/W2537120840","https://openalex.org/W2770201929","https://openalex.org/W2949457936","https://openalex.org/W2965569660","https://openalex.org/W2969071609","https://openalex.org/W3080713753","https://openalex.org/W4226055619","https://openalex.org/W4239312475","https://openalex.org/W4296976768","https://openalex.org/W6631466449","https://openalex.org/W6749884341"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Lower":[0],"limb":[1,54],"exoskeletons":[2,55,195],"offer":[3],"support":[4],"for":[5,52,56,112,126],"patients":[6],"suffering":[7],"from":[8],"mobility":[9],"disorders":[10],"due":[11,27],"to":[12,28,33,164,175,196],"injury,":[13],"stroke,":[14],"etc.":[15],"But":[16],"these":[17],"devices":[18],"are":[19],"not":[20],"used":[21],"in":[22],"day-to-day":[23],"life":[24],"and":[25,35,39,70,76,78,85,99,117,135,172,181,200],"environments":[26],"their":[29,198],"limited":[30],"human-computer":[31],"interface":[32],"perceive":[34],"handle":[36],"different":[37],"terrains":[38],"tasks.":[40,59],"In":[41],"this":[42],"paper,":[43],"we":[44,89,120,153],"introduce":[45],"a":[46,91,132,139,155],"simple":[47],"vision-based":[48,144],"environment":[49,199],"perception":[50,145,179],"pipeline":[51,62,146,180,193],"lower-":[53],"obstacle":[57,71,74,79,108,115,123,127],"crossing":[58],"The":[60,142],"proposed":[61,143,178,192],"consists":[63],"of":[64,105],"three":[65],"stages,":[66],"namely,":[67],"ground":[68],"plane":[69],"detection,":[72],"estimating":[73,113],"location":[75,116],"dimensions,":[77],"tracking.":[80],"To":[81],"reduce":[82],"noisy":[83],"artifacts":[84],"reliably":[86],"detect":[87],"obstacles,":[88],"propose":[90,154],"similarity":[92],"metric":[93],"based":[94],"on":[95,184],"color,":[96],"gradient":[97],"orientation,":[98],"2D":[100],"surface":[101],"normal.":[102],"Depth":[103],"map":[104],"the":[106,114,177,185,191],"detected":[107,167],"region":[109],"is":[110,147],"utilized":[111],"dimensions.":[118],"Also,":[119],"consider":[121],"two":[122],"tracking":[124,130,137],"modes":[125],"crossing,":[128],"visual":[129],"using":[131,138],"RGB-D":[133],"camera":[134],"positional":[136],"SLAM":[140],"camera.":[141],"integrated":[148],"with":[149],"an":[150],"exoskeleton,":[151],"where":[152],"control":[156],"scheme":[157],"that":[158,190],"can":[159],"vary":[160],"step":[161],"length":[162],"adaptively":[163],"successfully":[165,201],"cross":[166,202],"obstacles.":[168,203],"We":[169],"conduct":[170],"offline":[171],"online":[173],"experiments":[174,188],"validate":[176],"provide":[182],"insights":[183],"same.":[186],"Our":[187],"show":[189],"allows":[194],"understand":[197]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}