{"id":"https://openalex.org/W2168950532","doi":"https://doi.org/10.1109/itsc.2006.1706831","title":"The Single Frame Stereo Vision System for Reliable Obstacle Detection Used during the 2005 DARPA Grand Challenge on TerraMax","display_name":"The Single Frame Stereo Vision System for Reliable Obstacle Detection Used during the 2005 DARPA Grand Challenge on TerraMax","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W2168950532","doi":"https://doi.org/10.1109/itsc.2006.1706831","mag":"2168950532"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2006.1706831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2006.1706831","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE Intelligent Transportation Systems Conference","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/A5082513645","display_name":"Alberto Broggi","orcid":"https://orcid.org/0000-0002-0893-1331"},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Broggi","raw_affiliation_strings":["VisLab-Dipartimento di Ingegneria dell'Informazione, Universit\u00e1 di Parma, Parma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"VisLab-Dipartimento di Ingegneria dell'Informazione, Universit\u00e1 di Parma, Parma, Italy","institution_ids":["https://openalex.org/I124601658"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080212561","display_name":"C. Caraffi","orcid":null},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"C. Caraffi","raw_affiliation_strings":["VisLab-Dipartimento di Ingegneria dell'Informazione, Universit\u00e1 di Parma, Parma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"VisLab-Dipartimento di Ingegneria dell'Informazione, Universit\u00e1 di Parma, Parma, Italy","institution_ids":["https://openalex.org/I124601658"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035684438","display_name":"Pier Paolo Porta","orcid":null},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"P.P. Porta","raw_affiliation_strings":["VisLab-Dipartimento di Ingegneria dell'Informazione, Universit\u00e1 di Parma, Parma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"VisLab-Dipartimento di Ingegneria dell'Informazione, Universit\u00e1 di Parma, Parma, Italy","institution_ids":["https://openalex.org/I124601658"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080086618","display_name":"Paolo Zani","orcid":null},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"P. Zani","raw_affiliation_strings":["VisLab-Dipartimento di Ingegneria dell'Informazione, Universit\u00e1 di Parma, Parma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"VisLab-Dipartimento di Ingegneria dell'Informazione, Universit\u00e1 di Parma, Parma, Italy","institution_ids":["https://openalex.org/I124601658"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I124601658"],"apc_list":null,"apc_paid":null,"fwci":13.2511,"has_fulltext":false,"cited_by_count":93,"citation_normalized_percentile":{"value":0.99147509,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"745","last_page":"752"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":0.9994000196456909,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9987000226974487,"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/obstacle","display_name":"Obstacle","score":0.8732117414474487},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.7120986580848694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7095358967781067},{"id":"https://openalex.org/keywords/false-positive-paradox","display_name":"False positive paradox","score":0.6301867365837097},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.618503212928772},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.616406261920929},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.5485211610794067},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.4850098788738251},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.44452592730522156},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.44121330976486206},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41465649008750916}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8732117414474487},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.7120986580848694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7095358967781067},{"id":"https://openalex.org/C64869954","wikidata":"https://www.wikidata.org/wiki/Q1859747","display_name":"False positive paradox","level":2,"score":0.6301867365837097},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.618503212928772},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.616406261920929},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.5485211610794067},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.4850098788738251},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.44452592730522156},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.44121330976486206},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41465649008750916},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2006.1706831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2006.1706831","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE Intelligent Transportation Systems Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W13512556","https://openalex.org/W1519315568","https://openalex.org/W1556362595","https://openalex.org/W1556832667","https://openalex.org/W1602129629","https://openalex.org/W1774871844","https://openalex.org/W1924453835","https://openalex.org/W1941716149","https://openalex.org/W2089652819","https://openalex.org/W2104974755","https://openalex.org/W2107290706","https://openalex.org/W2107422845","https://openalex.org/W2113018220","https://openalex.org/W2128880924","https://openalex.org/W2131810460","https://openalex.org/W2134963432","https://openalex.org/W2135482339","https://openalex.org/W2135650941","https://openalex.org/W2135863421","https://openalex.org/W2167903261","https://openalex.org/W2296147781","https://openalex.org/W4234282793","https://openalex.org/W4243425824","https://openalex.org/W4285719527","https://openalex.org/W6600541815","https://openalex.org/W6633278755","https://openalex.org/W6636114426","https://openalex.org/W6679073850"],"related_works":["https://openalex.org/W1557094818","https://openalex.org/W2183246718","https://openalex.org/W2020803452","https://openalex.org/W2100745878","https://openalex.org/W1967596784","https://openalex.org/W2949709491","https://openalex.org/W307265996","https://openalex.org/W128884630","https://openalex.org/W2905493506","https://openalex.org/W1992486622"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"in":[2,25,52,64],"off-road":[3],"environments":[4],"requires":[5],"an":[6],"exceptionally":[7],"capable":[8],"sensor":[9],"system,":[10],"especially":[11],"given":[12,67],"that":[13,44],"the":[14,22,47,65,74,77,93,96,111,121,128],"unstructured":[15],"environment":[16],"does":[17],"not":[18],"provide":[19],"many":[20],"of":[21,49,76,115],"cues":[23],"available":[24],"on-road":[26],"environments.":[27,54],"This":[28],"paper":[29],"presents":[30],"a":[31,86,135],"variable-width-baseline":[32],"(up":[33],"to":[34,56,68,119,131],"1.5":[35],"meters)":[36],"single-frame":[37],"stereo":[38],"vision":[39,136],"system":[40,97,105,137],"for":[41,138],"obstacle":[42,139],"detection":[43,140],"can":[45],"meet":[46],"needs":[48],"autonomous":[50],"navigation":[51],"extreme":[53],"Efforts":[55],"maximize":[57],"computational":[58],"speed":[59],"<b":[60],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[61],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">o</b>":[62],"th":[63],"attention":[66],"accurate":[69],"and":[70,73,80,127],"stable":[71],"calibration":[72],"exploitation":[75],"processors":[78],"MMX":[79],"SSE":[81],"instruction":[82],"sets":[83],"-":[84],"allow":[85],"guaranteed":[87],"15":[88],"fps":[89],"rate.":[90],"Along":[91],"with":[92],"assured":[94],"speed,":[95],"proves":[98],"very":[99],"robust":[100],"against":[101],"false":[102],"positives.":[103],"The":[104],"has":[106],"been":[107],"field":[108],"tested":[109],"on":[110],"TerraMax":[112],"vehicle,":[113],"one":[114,130],"only":[116,129],"five":[117],"vehicles":[118],"complete":[120],"2005":[122],"DARPA":[123],"Grand":[124],"Challenge":[125],"course":[126],"do":[132],"so":[133],"using":[134]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":7}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}