{"id":"https://openalex.org/W4402300083","doi":"https://doi.org/10.1109/lra.2024.3455788","title":"Identifying Terrain Physical Parameters From Vision - Towards Physical-Parameter-Aware Locomotion and Navigation","display_name":"Identifying Terrain Physical Parameters From Vision - Towards Physical-Parameter-Aware Locomotion and Navigation","publication_year":2024,"publication_date":"2024-09-06","ids":{"openalex":"https://openalex.org/W4402300083","doi":"https://doi.org/10.1109/lra.2024.3455788"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3455788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3455788","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/691506","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002035302","display_name":"Jiaqi Chen","orcid":"https://orcid.org/0009-0006-3602-0291"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Jiaqi Chen","raw_affiliation_strings":["Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0009-0006-3602-0291","affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016683949","display_name":"Jonas Frey","orcid":"https://orcid.org/0000-0002-7401-2173"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jonas Frey","raw_affiliation_strings":["Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7401-2173","affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055836361","display_name":"Ruyi Zhou","orcid":"https://orcid.org/0000-0002-1854-9451"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ruyi Zhou","raw_affiliation_strings":["Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-1854-9451","affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016407319","display_name":"Takahiro Miki","orcid":"https://orcid.org/0000-0001-8556-2819"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Takahiro Miki","raw_affiliation_strings":["Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-8556-2819","affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001474340","display_name":"Georg Martius","orcid":"https://orcid.org/0000-0002-8963-7627"},"institutions":[{"id":"https://openalex.org/I143910747","display_name":"TH Bingen University of Applied Sciences","ror":"https://ror.org/01pxkj057","country_code":"DE","type":"education","lineage":["https://openalex.org/I143910747"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg Martius","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems Tübingen, Tübingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-8963-7627","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems Tübingen, Tübingen, Germany","institution_ids":["https://openalex.org/I143910747","https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4285-4990","affiliations":[{"raw_affiliation_string":"Robotic Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5002035302"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":16.3933,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.98692859,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"11","first_page":"9279","last_page":"9286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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":0.9983000159263611,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9764999747276306,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7880046367645264},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5700611472129822},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5202863812446594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44947993755340576},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.37565773725509644},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33415687084198},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32926619052886963},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15449729561805725},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1155676543712616},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.07747271656990051}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7880046367645264},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5700611472129822},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5202863812446594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44947993755340576},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.37565773725509644},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33415687084198},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32926619052886963},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15449729561805725},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1155676543712616},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.07747271656990051}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2024.3455788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3455788","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/691506","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/691506","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/697980","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/697980","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 9 (11)","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"doi:10.3929/ethz-b-000691506","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000691506","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/691506","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/691506","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1546503963","https://openalex.org/W2118246710","https://openalex.org/W2734960757","https://openalex.org/W2779458783","https://openalex.org/W2913921102","https://openalex.org/W3000916453","https://openalex.org/W3093922502","https://openalex.org/W3096411729","https://openalex.org/W3104876774","https://openalex.org/W3159481202","https://openalex.org/W3175254947","https://openalex.org/W4205430897","https://openalex.org/W4206157839","https://openalex.org/W4210767564","https://openalex.org/W4237726214","https://openalex.org/W4281479885","https://openalex.org/W4312474773","https://openalex.org/W4317987839","https://openalex.org/W4321487093","https://openalex.org/W4366208220","https://openalex.org/W4379803630","https://openalex.org/W4382365373","https://openalex.org/W4383171997","https://openalex.org/W4384025110","https://openalex.org/W4385430650","https://openalex.org/W4387092535","https://openalex.org/W4387595590","https://openalex.org/W4388327632","https://openalex.org/W4390938336","https://openalex.org/W4394737063","https://openalex.org/W4401416030","https://openalex.org/W4401417431","https://openalex.org/W6631190155","https://openalex.org/W6801964084","https://openalex.org/W6851800889","https://openalex.org/W6858179378","https://openalex.org/W6858419901","https://openalex.org/W6865299128"],"related_works":["https://openalex.org/W4399671601","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/W1977229594","https://openalex.org/W2072400776"],"abstract_inverted_index":{"Identifying":[0],"the":[1,5,92,102,139,163,178,199],"physical":[2,38,45,87,113,123,145,173,200],"properties":[3,39,201],"of":[4,29,65,112,141],"surrounding":[6],"environment":[7],"is":[8,49],"essential":[9],"for":[10,32,84,94],"robotic":[11],"locomotion":[12,97],"and":[13,23,63,70,98,110,130,165,177,204],"navigation":[14],"to":[15,34,120,127,151,211],"deal":[16],"with":[17,144],"non-geometric":[18],"hazards,":[19],"such":[20],"as":[21],"slippery":[22],"deformable":[24],"terrains.":[25],"It":[26],"would":[27],"be":[28],"great":[30],"benefit":[31],"robots":[33],"anticipate":[35],"these":[36],"extreme":[37],"before":[40],"contact;":[41],"however,":[42],"estimating":[43],"environmental":[44,86],"parameters":[46,115,146],"from":[47,116,132,167],"vision":[48],"still":[50],"an":[51,187],"open":[52],"challenge.":[53],"Animals":[54],"can":[55,160,197],"achieve":[56],"this":[57,75],"by":[58],"using":[59,181],"their":[60],"prior":[61],"experience":[62],"knowledge":[64],"what":[66],"they":[67],"have":[68],"seen":[69],"how":[71],"it":[72],"felt.":[73],"In":[74],"work,":[76],"we":[77],"propose":[78,119],"a":[79,122,148,154,182],"cross-modal":[80],"self-supervised":[81,149],"learning":[82],"framework":[83],"vision-based":[85],"parameter":[88],"estimation,":[89],"which":[90,159],"paves":[91],"way":[93],"future":[95],"physical-property-aware":[96],"navigation.":[99],"We":[100,118,170,191],"bridge":[101],"gap":[103],"between":[104],"existing":[105,188],"policies":[106],"trained":[107,136],"in":[108,125,147,175,202],"simulation":[109,126,176],"identification":[111],"terrain":[114],"vision.":[117],"train":[121,153],"decoder":[124,174],"predict":[128,162,198],"friction":[129,164],"stiffness":[131,166],"multi-modal":[133],"input.":[134],"The":[135],"network":[137,156,196],"allows":[138],"labeling":[140],"real-world":[142],"images":[143],"manner":[150],"further":[152],"visual":[155,195],"during":[157],"deployment,":[158],"densely":[161],"image":[168],"data.":[169],"validate":[171],"our":[172,194],"real":[179],"world":[180],"quadruped":[183],"ANYmal":[184],"robot,":[185],"outperforming":[186],"baseline":[189],"method.":[190],"show":[192],"that":[193],"indoor":[203],"outdoor":[205],"experiments":[206],"while":[207],"allowing":[208],"fast":[209],"adaptation":[210],"new":[212],"environments.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}