{"id":"https://openalex.org/W4313151881","doi":"https://doi.org/10.1109/iros47612.2022.9982007","title":"An Autonomous Descending-Stair Cleaning Robot with RGB-D based Detection, Approaching, and Area coverage Process","display_name":"An Autonomous Descending-Stair Cleaning Robot with RGB-D based Detection, Approaching, and Area coverage Process","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313151881","doi":"https://doi.org/10.1109/iros47612.2022.9982007"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982007","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/A5023835965","display_name":"Prabakaran Veerajagadheswar","orcid":"https://orcid.org/0000-0002-5612-2619"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Prabakaran Veerajagadheswar","raw_affiliation_strings":["Singapore University of Technology and Design,ROARS Lab, Engineering Product Development,Singapore,487372"],"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,ROARS Lab, Engineering Product Development,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073647327","display_name":"Anh Vu Le","orcid":"https://orcid.org/0000-0002-4804-7540"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Anh Vu Le","raw_affiliation_strings":["Singapore University of Technology and Design,ROARS Lab, Engineering Product Development,Singapore,487372"],"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,ROARS Lab, Engineering Product Development,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079571573","display_name":"Phone Thiha Kyaw","orcid":null},"institutions":[{"id":"https://openalex.org/I3131622653","display_name":"Yangon Technological University","ror":"https://ror.org/008pxsf13","country_code":"MM","type":"education","lineage":["https://openalex.org/I3131622653"]},{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["MM","SG"],"is_corresponding":false,"raw_author_name":"Phone Thiha Kyaw","raw_affiliation_strings":["Singapore University of Technology and Design,ROARS Lab, Engineering Product Development,Singapore,487372","Department of Mechatronic Engineering, Yangon Technological University, Yangon, Myanmar"],"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,ROARS Lab, Engineering Product Development,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]},{"raw_affiliation_string":"Department of Mechatronic Engineering, Yangon Technological University, Yangon, Myanmar","institution_ids":["https://openalex.org/I3131622653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041057723","display_name":"Mohan Rajesh Elara","orcid":"https://orcid.org/0000-0001-6504-1530"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mohan Rajesh Elara","raw_affiliation_strings":["Singapore University of Technology and Design,ROARS Lab, Engineering Product Development,Singapore,487372"],"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,ROARS Lab, Engineering Product Development,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033812573","display_name":"Aung Paing","orcid":null},"institutions":[{"id":"https://openalex.org/I3131622653","display_name":"Yangon Technological University","ror":"https://ror.org/008pxsf13","country_code":"MM","type":"education","lineage":["https://openalex.org/I3131622653"]}],"countries":["MM"],"is_corresponding":false,"raw_author_name":"Aung Paing","raw_affiliation_strings":["Yangon Technological University,Department of Mechatronic Engineering,Yangon,Myanmar,11101"],"affiliations":[{"raw_affiliation_string":"Yangon Technological University,Department of Mechatronic Engineering,Yangon,Myanmar,11101","institution_ids":["https://openalex.org/I3131622653"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5023835965"],"corresponding_institution_ids":["https://openalex.org/I152815399"],"apc_list":null,"apc_paid":null,"fwci":0.5548,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.62551104,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"118","last_page":"125"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9937999844551086,"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/robot","display_name":"Robot","score":0.7419418096542358},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6376858949661255},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6211819052696228},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5949355959892273},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5827561020851135},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5499524474143982},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.4959774911403656},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.46743693947792053},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.44549280405044556},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.41264572739601135},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.20948800444602966},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.18827354907989502}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7419418096542358},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6376858949661255},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6211819052696228},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5949355959892273},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5827561020851135},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5499524474143982},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.4959774911403656},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.46743693947792053},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.44549280405044556},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.41264572739601135},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.20948800444602966},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.18827354907989502},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982007","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":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1980152534","https://openalex.org/W2007313938","https://openalex.org/W2019738489","https://openalex.org/W2029065245","https://openalex.org/W2037787439","https://openalex.org/W2053831252","https://openalex.org/W2066458332","https://openalex.org/W2117792026","https://openalex.org/W2143864104","https://openalex.org/W2145023731","https://openalex.org/W2262977212","https://openalex.org/W2763691595","https://openalex.org/W2792427381","https://openalex.org/W2806494202","https://openalex.org/W2848676021","https://openalex.org/W2884926812","https://openalex.org/W2901050231","https://openalex.org/W2933871163","https://openalex.org/W3003893234","https://openalex.org/W3004271868","https://openalex.org/W3020698042","https://openalex.org/W3043971245","https://openalex.org/W3087974171","https://openalex.org/W3089485393","https://openalex.org/W3111208580","https://openalex.org/W3130572130","https://openalex.org/W4206555898","https://openalex.org/W4229003466","https://openalex.org/W4285291714","https://openalex.org/W6756486208","https://openalex.org/W6803003410","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W4237171675","https://openalex.org/W3036286480","https://openalex.org/W4287027631","https://openalex.org/W3192357901","https://openalex.org/W2387360586","https://openalex.org/W2952736415","https://openalex.org/W3209723314","https://openalex.org/W3205398323","https://openalex.org/W2883297582","https://openalex.org/W4390524233"],"abstract_inverted_index":{"Cleaning":[0],"robots":[1,16,42],"are":[2,122],"one":[3],"of":[4,37,118,195],"the":[5,9,38,44,56,69,79,99,103,141,152,157,164,171,175,179,196,208,216],"market":[6],"dominators":[7],"in":[8,25,48,55,109,166,200,214],"commercialized":[10],"robot":[11,165,209],"space.":[12],"So":[13],"far,":[14],"numerous":[15],"have":[17],"been":[18],"introduced":[19,58],"that":[20,95,162,207],"can":[21,96],"perform":[22,106],"cleaning":[23,41,68,176],"tasks":[24],"various":[26],"settings,":[27],"including":[28],"floor,":[29],"pavement,":[30],"pool,":[31],"lawn,":[32],"windows,":[33],"etc.":[34],"However,":[35],"none":[36],"existing":[39],"commercial":[40],"targets":[43],"staircase,":[45,101,218],"commonly":[46],"found":[47],"multi-story":[49],"buildings.":[50],"Even":[51],"though":[52],"few":[53],"works":[54],"literature":[57],"robotic":[59,91,198],"solutions":[60],"for":[61],"staircase":[62,71,180,219],"cleaning,":[63],"they":[64],"primarily":[65],"focused":[66],"on":[67],"ascending":[70],"often,":[72],"with":[73,151,191],"a":[74,87,201,211],"loose":[75],"connection":[76],"to":[77,155],"access":[78],"descending":[80,100,217],"staircase.":[81],"In":[82,128],"this":[83],"paper,":[84],"we":[85,131,139],"propose":[86],"novel":[88],"autonomous":[89],"reconfigurable":[90],"platform":[92],"called":[93],"sTetro-D":[94],"autonomously":[97],"detect":[98],"approach":[102],"step,":[104],"and":[105,125,189,221],"area":[107,181,222],"coverage":[108,182],"an":[110,133,192],"unknown":[111],"environment.":[112],"The":[113,204],"developed":[114],"autonomy":[115],"framework":[116],"consists":[117],"two":[119],"modes":[120],"which":[121],"search":[123,129],"mode":[124,177],"clean":[126],"mode.":[127],"mode,":[130],"implemented":[132],"RGB-D":[134],"camera-based":[135],"fusion":[136],"technique":[137],"wherein":[138],"combined":[140],"image":[142],"bounding":[143],"box":[144],"from":[145],"DCNN":[146],"(Deep":[147],"Convolution":[148],"Neural":[149],"Network)":[150],"depth":[153],"information":[154],"find":[156],"3D":[158],"first":[159],"step":[160],"pose":[161],"assists":[163],"approaching":[167],"it":[168],"precisely.":[169],"After":[170],"successful":[172],"stair":[173],"approach,":[174,220],"enables":[178],"process.":[183],"We":[184],"described":[185],"all":[186],"these":[187],"aspects":[188],"concluded":[190],"experimental":[193],"analysis":[194],"proposed":[197],"system":[199],"real-world":[202],"scenario.":[203],"results":[205],"demonstrate":[206],"has":[210],"significant":[212],"performance":[213],"detecting":[215],"coverage.":[223]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
