{"id":"https://openalex.org/W4405520998","doi":"https://doi.org/10.1109/lra.2024.3519859","title":"PTS-Map: Probabilistic Terrain State Map for Uncertainty-Aware Traversability Mapping in Unstructured Environments","display_name":"PTS-Map: Probabilistic Terrain State Map for Uncertainty-Aware Traversability Mapping in Unstructured Environments","publication_year":2024,"publication_date":"2024-12-18","ids":{"openalex":"https://openalex.org/W4405520998","doi":"https://doi.org/10.1109/lra.2024.3519859"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3519859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3519859","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"],"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/A5003753790","display_name":"Dong-Wook Kim","orcid":"https://orcid.org/0009-0000-8507-0953"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-Wook Kim","raw_affiliation_strings":["Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, South Korea","Department of Electrical and Computer Engineering and ASRI, Seoul National University, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0000-8507-0953","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042152174","display_name":"E In Son","orcid":"https://orcid.org/0009-0003-9668-8355"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"E-In Son","raw_affiliation_strings":["Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, South Korea","Department of Electrical and Computer Engineering and ASRI, Seoul National University, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0003-9668-8355","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100728732","display_name":"Chan Kim","orcid":"https://orcid.org/0000-0003-1642-6789"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chan Kim","raw_affiliation_strings":["Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, South Korea","Department of Electrical and Computer Engineering and ASRI, Seoul National University, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-1642-6789","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048469448","display_name":"Ji-Hoon Hwang","orcid":"https://orcid.org/0009-0000-0959-5440"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ji-Hoon Hwang","raw_affiliation_strings":["Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, South Korea","Department of Electrical and Computer Engineering and ASRI, Seoul National University, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0000-0959-5440","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048311228","display_name":"Seung\u2010Woo Seo","orcid":"https://orcid.org/0000-0003-4890-8563"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung-Woo Seo","raw_affiliation_strings":["Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, South Korea","Department of Electrical and Computer Engineering and ASRI, Seoul National University, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-4890-8563","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":0.3773,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.57385905,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"10","issue":"2","first_page":"1257","last_page":"1264"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.8919000029563904,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13382","display_name":"Robotics and Automated Systems","score":0.8919000029563904,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10215","display_name":"Semantic Web and Ontologies","score":0.8748000264167786,"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"}},{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.8682000041007996,"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/terrain","display_name":"Terrain","score":0.7180633544921875},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7064050436019897},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.52975994348526},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5049765706062317},{"id":"https://openalex.org/keywords/road-map","display_name":"Road map","score":0.4649824798107147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45478805899620056},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.4163539409637451},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.32645678520202637},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09439197182655334}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7180633544921875},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7064050436019897},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.52975994348526},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5049765706062317},{"id":"https://openalex.org/C188048851","wikidata":"https://www.wikidata.org/wiki/Q2298569","display_name":"Road map","level":2,"score":0.4649824798107147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45478805899620056},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.4163539409637451},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.32645678520202637},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09439197182655334}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3519859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3519859","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.7400000095367432,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G1247120792","display_name":null,"funder_award_id":"915108201","funder_id":"https://openalex.org/F4320334874","funder_display_name":"Defense Acquisition Program Administration"}],"funders":[{"id":"https://openalex.org/F4320321292","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542"},{"id":"https://openalex.org/F4320334874","display_name":"Defense Acquisition Program Administration","ror":"https://ror.org/04bjg9m96"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2075429750","https://openalex.org/W2166870098","https://openalex.org/W2197229444","https://openalex.org/W2202678121","https://openalex.org/W2335799662","https://openalex.org/W2809054577","https://openalex.org/W2963238245","https://openalex.org/W3000916453","https://openalex.org/W3033835523","https://openalex.org/W3176159010","https://openalex.org/W3212567339","https://openalex.org/W4210423514","https://openalex.org/W4253729359","https://openalex.org/W4280530977","https://openalex.org/W4293499204","https://openalex.org/W4312270149","https://openalex.org/W4312749288","https://openalex.org/W4313639585","https://openalex.org/W4387092523","https://openalex.org/W4389666202","https://openalex.org/W4391117283","https://openalex.org/W4392405817","https://openalex.org/W4394007384"],"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/W2069184433","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W2914059119","https://openalex.org/W3040494141"],"abstract_inverted_index":{"Traversability":[0],"mapping":[1],"for":[2,12],"autonomous":[3],"navigation":[4],"in":[5,22,124,137],"unstructured":[6,127],"environments":[7,128],"has":[8],"been":[9],"widely":[10],"investigated":[11],"decades.":[13],"However,":[14],"it":[15],"remains":[16],"challenging":[17],"due":[18],"to":[19,34,49,83,119],"the":[20,26,56,66,85,94,99],"uncertainty":[21,81],"geometry":[23],"perception":[24],"and":[25,60,71,97,115,140],"simplified":[27],"representation":[28],"of":[29,38,69,87],"traversability":[30,108,146],"maps":[31],"that":[32,110],"fail":[33],"capture":[35],"detailed":[36],"structures":[37],"environments.":[39],"We":[40],"propose":[41],"PTS-Map,":[42],"a":[43,78,105,144],"2.5D":[44],"probabilistic":[45],"terrain":[46,95],"state":[47,59,74],"map":[48,109],"address":[50],"these":[51],"issues.":[52],"PTS-Map":[53,103,132],"sequentially":[54],"updates":[55],"ground":[57,70,80,113],"surface":[58],"above-ground":[61],"elevation":[62],"state,":[63],"explicitly":[64],"distinguishing":[65],"geometric":[67,100],"features":[68,117],"obstacles.":[72],"During":[73],"updates,":[75],"we":[76],"introduce":[77],"novel":[79],"estimation":[82],"mitigate":[84],"effects":[86],"unreliable":[88],"feature":[89,101],"measurements.":[90],"By":[91],"effectively":[92],"designing":[93],"states":[96],"addressing":[98],"uncertainty,":[102],"constructs":[104],"temporally":[106],"consistent":[107],"provides":[111],"precise":[112,145],"conditions":[114],"vertical":[116],"relevant":[118],"navigation.":[120],"Experiments":[121],"are":[122],"conducted":[123],"various":[125],"large-scale":[126],"with":[129],"distinct":[130],"characteristics.":[131],"outperforms":[133],"other":[134],"state-of-the-art":[135],"methods":[136],"success":[138],"rate":[139],"efficiency":[141],"by":[142],"constructing":[143],"map.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}