{"id":"https://openalex.org/W2166967166","doi":"https://doi.org/10.1109/jra.1987.1087089","title":"A visual navigation system for autonomous land vehicles","display_name":"A visual navigation system for autonomous land vehicles","publication_year":1987,"publication_date":"1987-04-01","ids":{"openalex":"https://openalex.org/W2166967166","doi":"https://doi.org/10.1109/jra.1987.1087089","mag":"2166967166"},"language":"en","primary_location":{"id":"doi:10.1109/jra.1987.1087089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087089","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-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/A5109555622","display_name":"A. Waxman","orcid":null},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]},{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Waxman","raw_affiliation_strings":["Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA","Department of Electrical Computer & Systems Engineering, Boston University, Saint Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"Department of Electrical Computer & Systems Engineering, Boston University, Saint Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108565960","display_name":"J. LeMoigne","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. LeMoigne","raw_affiliation_strings":["Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111878160","display_name":"L.S. Davis","orcid":"https://orcid.org/0009-0001-1414-8415"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. Davis","raw_affiliation_strings":["Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059650977","display_name":"B. Srinivasan","orcid":"https://orcid.org/0000-0002-3118-5779"},"institutions":[{"id":"https://openalex.org/I156317336","display_name":"FMC (United States)","ror":"https://ror.org/01h95gp06","country_code":"US","type":"company","lineage":["https://openalex.org/I156317336"]},{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Srinivasan","raw_affiliation_strings":["Central Engineering Laboratories, FMC Corporation, Santa Clara, CA, USA","Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Central Engineering Laboratories, FMC Corporation, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I156317336"]},{"raw_affiliation_string":"Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078047408","display_name":"Todd R. Kushner","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. Kushner","raw_affiliation_strings":["Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025491129","display_name":"Eli Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eli Liang","raw_affiliation_strings":["Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007717666","display_name":"T. Siddalingaiah","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. Siddalingaiah","raw_affiliation_strings":["Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":23.8599,"has_fulltext":false,"cited_by_count":214,"citation_normalized_percentile":{"value":0.99772267,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"3","issue":"2","first_page":"124","last_page":"141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","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/T10586","display_name":"Robotic Path Planning Algorithms","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":0.9993000030517578,"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":0.995199978351593,"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/computer-vision","display_name":"Computer vision","score":0.63687664270401},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6326643228530884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6155165433883667},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6114932298660278},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6105666160583496},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5071244239807129},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.47953319549560547},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4208701252937317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34635818004608154},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.11198964715003967},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08421531319618225}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.63687664270401},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6326643228530884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6155165433883667},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6114932298660278},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6105666160583496},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5071244239807129},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.47953319549560547},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4208701252937317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34635818004608154},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.11198964715003967},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08421531319618225},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/jra.1987.1087089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087089","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-article"},{"id":"pmh:ADA160642","is_oa":false,"landing_page_url":"http://oai.dtic.mil/oai/oai?&verb=getRecord&metadataPrefix=html&identifier=ADA160642","pdf_url":null,"source":{"id":"https://openalex.org/S4406923043","display_name":"Defense Technical Information Center (DTIC)","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"DTIC AND NTIS","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7099999785423279,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W238115758","https://openalex.org/W345051478","https://openalex.org/W579162242","https://openalex.org/W1509934357","https://openalex.org/W1547339601","https://openalex.org/W1597739853","https://openalex.org/W1599888605","https://openalex.org/W2016900505","https://openalex.org/W2094137454","https://openalex.org/W2097856935","https://openalex.org/W2099034771","https://openalex.org/W2102032677","https://openalex.org/W2117123327","https://openalex.org/W2129584448","https://openalex.org/W2131004794","https://openalex.org/W2137939784","https://openalex.org/W2162197665","https://openalex.org/W2326588846"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W3040494141","https://openalex.org/W4384026392","https://openalex.org/W4285089922","https://openalex.org/W2101183501"],"abstract_inverted_index":{"A":[0,173],"modular":[1],"system":[2,17,41,141,178],"architecture":[3],"has":[4,142,179,188],"been":[5,143,180],"developed":[6],"to":[7,58,98,100,120,136,154],"support":[8],"visual":[9,88],"navigation":[10],"by":[11,92,159],"an":[12],"autonomous":[13],"land":[14],"vehicle.":[15],"The":[16,40,50,140],"consists":[18],"of":[19,55,64,86,95,106,117,148,176],"vision":[20],"modules":[21,34,151],"performing":[22],"image":[23,185],"processing,":[24],"three-dimensional":[25],"shape":[26],"recovery,":[27],"and":[28,38,48,60,102,130,152,187],"geometric":[29],"reasoning,":[30],"as":[31,33,90,145],"well":[32],"for":[35],"planning,":[36],"navigating,":[37],"piloting.":[39],"runs":[42],"in":[43,66,201],"two":[44],"distinct":[45],"modes,":[46],"bootstrap":[47,51],"feedforward.":[49],"mode":[52,74],"requires":[53],"analysis":[54],"entire":[56],"images":[57],"find":[59],"model":[61,103,166],"the":[62,67,72,76,87,96,104,134,177,190],"objects":[63,105],"interest":[65],"scene":[68],"(e.g.,":[69],"roads).":[70],"In":[71],"feedforward":[73],"(while":[75],"vehicle":[77,123],"is":[78,81],"moving),":[79],"attention":[80],"focused":[82],"on":[83,169,182],"small":[84],"parts":[85],"field":[89],"determined":[91],"prior":[93],"views":[94],"scene,":[97],"continue":[99],"track":[101],"interest.":[107],"General":[108],"navigational":[109],"tasks":[110],"are":[111,126],"decomposed":[112],"into":[113],"three":[114],"categories,":[115],"all":[116],"which":[118,137],"contribute":[119],"planning":[121],"a":[122,146,156,160,164,170,183],"path.":[124],"They":[125],"called":[127],"long-,":[128],"intermediate-,":[129],"short-range":[131],"navigation,":[132],"reflecting":[133],"scale":[135,165],"they":[138],"apply.":[139],"implemented":[144],"set":[147],"concurrent":[149],"communicating":[150],"used":[153],"drive":[155],"camera":[157],"(carried":[158],"robot":[161],"arm)":[162],"over":[163],"road":[167],"network":[168],"terrain":[171],"board.":[172],"large":[174],"subset":[175],"reimplemented":[181],"VICOM":[184],"processor":[186],"driven":[189],"DARPA":[191],"Autonomous":[192],"Land":[193],"Vehicle":[194],"(ALV)":[195],"at":[196],"Martin":[197],"Marietta's":[198],"test":[199],"site":[200],"Denver,":[202],"CO.":[203]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}