{"id":"https://openalex.org/W2042698812","doi":"https://doi.org/10.1109/ivs.2010.5547993","title":"Autonomous ground vehicle navigation method in complex environment","display_name":"Autonomous ground vehicle navigation method in complex environment","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2042698812","doi":"https://doi.org/10.1109/ivs.2010.5547993","mag":"2042698812"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2010.5547993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2010.5547993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Intelligent Vehicles Symposium","raw_type":"proceedings-article"},"type":"conference-paper","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/A5062124960","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0003-3964-2433"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yang Yi","raw_affiliation_strings":["Integrated Navig. & Intell. Navig. Lab., Beijing Institute of Technology, Beijing, Beijing, CN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Integrated Navig. & Intell. Navig. Lab., Beijing Institute of Technology, Beijing, Beijing, CN","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091459774","display_name":"Mengyin Fu","orcid":"https://orcid.org/0000-0002-5520-7127"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Fu Mengyin","raw_affiliation_strings":["Integrated Navig. & Intell. Navig. Lab., Beijing Institute of Technology, Beijing, Beijing, CN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Integrated Navig. & Intell. Navig. Lab., Beijing Institute of Technology, Beijing, Beijing, CN","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yang Xin","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yang Xin","raw_affiliation_strings":["Integrated Navig. & Intell. Navig. Lab., Beijing Institute of Technology, Beijing, Beijing, CN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Integrated Navig. & Intell. Navig. Lab., Beijing Institute of Technology, Beijing, Beijing, CN","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiong Guangming","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210100278","display_name":"Beijing Satellite Navigation Center","ror":"https://ror.org/0188rvx33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210100278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiong Guangming","raw_affiliation_strings":["47833, Integrated Navigation and Intelligent Navigation Laboratory, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"47833, Integrated Navigation and Intelligent Navigation Laboratory, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210100278"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100665612","display_name":"Jianwei Gong","orcid":"https://orcid.org/0000-0003-4651-8473"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210100278","display_name":"Beijing Satellite Navigation Center","ror":"https://ror.org/0188rvx33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210100278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"J.W. Gong","raw_affiliation_strings":["Integrated Navigation and Intelligent Navigation Laboratory, Beijing Institute of Technology, Beijing, China","[Integrated Navigation and Intelligent Navigation Laboratory, Beijing Institute of Technology, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Integrated Navigation and Intelligent Navigation Laboratory, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210100278"]},{"raw_affiliation_string":"[Integrated Navigation and Intelligent Navigation Laboratory, Beijing Institute of Technology, China]","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1060","last_page":"1065"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983999729156494,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9797999858856201,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8557701110839844},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.637941837310791},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.6227356195449829},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6143137812614441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5858503580093384},{"id":"https://openalex.org/keywords/cylinder","display_name":"Cylinder","score":0.5341728329658508},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.519317090511322},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46082744002342224},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4502311944961548},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4283546209335327},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24164032936096191},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16689488291740417},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16443806886672974},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12316888570785522},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09874841570854187}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8557701110839844},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.637941837310791},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.6227356195449829},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6143137812614441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5858503580093384},{"id":"https://openalex.org/C203311528","wikidata":"https://www.wikidata.org/wiki/Q34132","display_name":"Cylinder","level":2,"score":0.5341728329658508},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.519317090511322},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46082744002342224},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4502311944961548},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4283546209335327},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24164032936096191},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16689488291740417},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16443806886672974},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12316888570785522},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09874841570854187},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2010.5547993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2010.5547993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Intelligent Vehicles Symposium","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":16,"referenced_works":["https://openalex.org/W28531074","https://openalex.org/W1501506108","https://openalex.org/W2037490150","https://openalex.org/W2089807701","https://openalex.org/W2097568471","https://openalex.org/W2100522187","https://openalex.org/W2114476723","https://openalex.org/W2114998424","https://openalex.org/W2125409550","https://openalex.org/W2126969795","https://openalex.org/W2149317166","https://openalex.org/W2149736015","https://openalex.org/W2165852544","https://openalex.org/W2170740604","https://openalex.org/W6630084102","https://openalex.org/W6677352149"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W4244478748","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W2069184433","https://openalex.org/W4223488648","https://openalex.org/W3044778482","https://openalex.org/W3040494141"],"abstract_inverted_index":{"In":[0,35,53],"this":[1],"paper,":[2],"a":[3,20],"3D":[4,50],"laser":[5,24],"point":[6,51,57,79],"cloud-based":[7],"navigation":[8,66],"method":[9,87],"for":[10],"autonomous":[11,89],"ground":[12,90],"vehicles":[13],"in":[14,97],"complex":[15,98],"environment":[16,30],"is":[17,33,40,72],"proposed.":[18],"With":[19],"coordinate":[21],"transformation":[22],"of":[23,49,59],"data":[25],"from":[26],"sphere":[27],"to":[28,92],"cylinder,":[29,37],"perception":[31],"cylinder":[32],"configured.":[34],"the":[36,55,77,86],"terrain":[38],"traversability":[39],"predicted":[41],"through":[42],"analysis":[43],"on":[44,76],"radial":[45],"and":[46,95],"tangential":[47],"slope":[48],"cloud.":[52,80],"addition,":[54],"candidate":[56,78],"cloud":[58],"traversable":[60],"region":[61],"has":[62],"been":[63],"extracted.":[64],"Furthermore,":[65],"circle":[67],"contained":[68],"with":[69],"direction":[70],"information":[71],"built":[73],"up":[74],"based":[75],"Extended":[81],"experimental":[82],"results":[83],"demonstrate":[84],"that":[85],"allows":[88],"vehicle":[91],"move":[93],"safely":[94],"correctly":[96],"environment.":[99]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
