{"id":"https://openalex.org/W4405785735","doi":"https://doi.org/10.1109/iros58592.2024.10802363","title":"Camera-Based Belief Space Planning in Discrete Partially-Observable Domains","display_name":"Camera-Based Belief Space Planning in Discrete Partially-Observable Domains","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785735","doi":"https://doi.org/10.1109/iros58592.2024.10802363"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5111043143","display_name":"Janis Eric Freund","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Janis Eric Freund","raw_affiliation_strings":["Technical University of Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056141385","display_name":"Camille Phiquepal","orcid":"https://orcid.org/0000-0002-3242-8090"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Camille Phiquepal","raw_affiliation_strings":["University of Stuttgart,Machine Learning & Robotics Lab,Germany"],"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Machine Learning & Robotics Lab,Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024839170","display_name":"Andreas Orthey","orcid":"https://orcid.org/0000-0002-1478-1405"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Orthey","raw_affiliation_strings":["Technical University of Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["Technical University of Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5111043143"],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24998132,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9953","last_page":"9959"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9922999739646912,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9922999739646912,"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":0.9595999717712402,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.955299973487854,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/observable","display_name":"Observable","score":0.7480060458183289},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5894196033477783},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5637553930282593},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5226426124572754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4371762275695801},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3281151354312897},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1889285445213318}],"concepts":[{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.7480060458183289},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5894196033477783},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5637553930282593},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5226426124572754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4371762275695801},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3281151354312897},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1889285445213318},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W977458031","https://openalex.org/W1814533834","https://openalex.org/W1971086298","https://openalex.org/W1971998222","https://openalex.org/W2068945175","https://openalex.org/W2103052138","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2168359464","https://openalex.org/W2207352740","https://openalex.org/W3022958460","https://openalex.org/W3089355520","https://openalex.org/W3165367994","https://openalex.org/W3207078897","https://openalex.org/W4214570817","https://openalex.org/W4285102417","https://openalex.org/W4285741752","https://openalex.org/W4285813088","https://openalex.org/W6631015714"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Robots":[0],"often":[1],"have":[2],"to":[3,23,129,193],"operate":[4],"in":[5,53,127,161,181],"discrete":[6],"partially":[7],"observable":[8,18],"worlds,":[9],"where":[10],"the":[11,14,36,73,145,154],"state":[12,88,106,110,131,148,156],"of":[13,50,72,95,99,117,164],"world":[15,25],"is":[16],"only":[17],"at":[19],"runtime.":[20],"To":[21,30],"react":[22],"different":[24,109],"states,":[26],"robots":[27],"need":[28],"contingencies.":[29],"find":[31],"contingencies,":[32],"prior":[33],"work":[34,175],"developed":[35],"path":[37],"tree":[38,49],"optimization":[39],"(PTO)":[40],"method,":[41],"which":[42],"computes":[43],"motion":[44,51,75],"contingencies":[45],"by":[46,63],"constructing":[47],"a":[48,102,124,141,169],"paths":[52],"belief":[54,66],"space.":[55],"In":[56,133],"this":[57,81,114],"paper,":[58],"we":[59,83,136],"extend":[60],"upon":[61],"PTO":[62,100,118,138],"enabling":[64],"camera-based":[65,87,147,155],"space":[67],"planning":[68,76,184,199],"through":[69],"an":[70,85,91,178,189],"extension":[71],"open":[74,190],"library":[77],"(OMPL).":[78],"By":[79],"leveraging":[80],"extension,":[82],"develop":[84],"improved":[86,115],"sampler":[89,157],"and":[90,108,143,185,196],"efficient":[92],"open-source":[93],"implementation":[94],"PTO.":[96],"This":[97],"version":[98,116],"supports":[101],"virtual":[103,125],"camera,":[104],"non-euclidean":[105],"spaces,":[107],"samplers.":[111],"We":[112],"evaluate":[113],"on":[119],"four":[120],"realistic":[121],"scenarios":[122,166],"with":[123,140,144,188],"camera":[126],"up":[128],"10-dimensional":[130],"spaces.":[132],"our":[134],"evaluations,":[135],"compare":[137],"both":[139],"default":[142],"new":[146],"sampler.":[149],"The":[150],"results":[151],"indicate":[152],"that":[153],"improves":[158],"success":[159],"rates":[160],"3":[162],"out":[163],"4":[165],"while":[167],"having":[168],"significant":[170],"lower":[171],"memory":[172],"footprint.":[173],"Our":[174],"thus":[176],"makes":[177],"important":[179],"step":[180],"advancing":[182],"belief-space":[183,198],"provides":[186],"researchers":[187],"source":[191],"tool":[192],"use,":[194],"modify,":[195],"benchmark":[197],"methods.":[200]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}