{"id":"https://openalex.org/W2010821084","doi":"https://doi.org/10.1109/ramech.2011.6070451","title":"Homography-based ground area detection for indoor mobile robot using binocular cameras","display_name":"Homography-based ground area detection for indoor mobile robot using binocular cameras","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2010821084","doi":"https://doi.org/10.1109/ramech.2011.6070451","mag":"2010821084"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2011.6070451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2011.6070451","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM)","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/A5069328872","display_name":"Peiqi Ke","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peiqi Ke","raw_affiliation_strings":["Image Processing Center, School of Astronautics, Beihang University, Beijing, 100191, China"],"affiliations":[{"raw_affiliation_string":"Image Processing Center, School of Astronautics, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058039517","display_name":"Cai Meng","orcid":"https://orcid.org/0000-0002-0008-1125"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Cai Meng","raw_affiliation_strings":["Social Robotics Lab, Interactive Digital Media Institute, National University of Singapore, 119613, Singapore"],"affiliations":[{"raw_affiliation_string":"Social Robotics Lab, Interactive Digital Media Institute, National University of Singapore, 119613, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102956549","display_name":"Jihao Li","orcid":"https://orcid.org/0000-0002-8277-4223"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jihao Li","raw_affiliation_strings":["Mechatronics Engineering Department, School of Mechanical Engineering, Beijing University of Science Technology, 100083, China"],"affiliations":[{"raw_affiliation_string":"Mechatronics Engineering Department, School of Mechanical Engineering, Beijing University of Science Technology, 100083, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100414092","display_name":"Ying Liu","orcid":"https://orcid.org/0000-0001-9319-5940"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Liu","raw_affiliation_strings":["Industrial Robot & Production Automation Lab, School of Mechanical Engineering, University of Science & Technology Beijing, 100083, China"],"affiliations":[{"raw_affiliation_string":"Industrial Robot & Production Automation Lab, School of Mechanical Engineering, University of Science & Technology Beijing, 100083, China","institution_ids":["https://openalex.org/I92403157"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069328872"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.7727,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74107312,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"1","issue":null,"first_page":"30","last_page":"34"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9994000196456909,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9994000196456909,"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":0.9972000122070312,"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/T14257","display_name":"Advanced Measurement and Detection Methods","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.8273013830184937},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.8127819895744324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7548118829727173},{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.7428932189941406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6873595118522644},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6379227042198181},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49455925822257996},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4394717812538147},{"id":"https://openalex.org/keywords/binocular-vision","display_name":"Binocular vision","score":0.43715205788612366},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1764119267463684}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8273013830184937},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.8127819895744324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7548118829727173},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.7428932189941406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6873595118522644},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6379227042198181},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49455925822257996},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4394717812538147},{"id":"https://openalex.org/C121958486","wikidata":"https://www.wikidata.org/wiki/Q609543","display_name":"Binocular vision","level":2,"score":0.43715205788612366},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1764119267463684},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C75280867","wikidata":"https://www.wikidata.org/wiki/Q877775","display_name":"Projective space","level":3,"score":0.0},{"id":"https://openalex.org/C177846678","wikidata":"https://www.wikidata.org/wiki/Q1501864","display_name":"Projective test","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ramech.2011.6070451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2011.6070451","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/128715","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/128715","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1964344553","https://openalex.org/W2096488248","https://openalex.org/W2096574843","https://openalex.org/W2113163629","https://openalex.org/W2150781259","https://openalex.org/W2164772994","https://openalex.org/W2171188349","https://openalex.org/W6641142699","https://openalex.org/W6677118733","https://openalex.org/W6684348952"],"related_works":["https://openalex.org/W4313151434","https://openalex.org/W2050662190","https://openalex.org/W1997252062","https://openalex.org/W2899509464","https://openalex.org/W2159857203","https://openalex.org/W4390071586","https://openalex.org/W1982908968","https://openalex.org/W2378199636","https://openalex.org/W3121066829","https://openalex.org/W1981184105"],"abstract_inverted_index":{"Drivable":[0],"area":[1,38,60],"detection":[2],"is":[3,56,66,133],"an":[4,32],"important":[5],"issue":[6],"for":[7,39],"mobile":[8,41],"robot":[9],"to":[10,23,34,68,107,117,122],"work":[11],"in":[12,135],"indoor":[13,40],"and":[14,19,25,74,100],"outdoor":[15],"environments":[16],"with":[17,21,43],"safety":[18],"security":[20],"respect":[22],"itself":[24],"environment.":[26],"In":[27,58],"this":[28],"paper,":[29],"we":[30],"propose":[31],"approach":[33],"detect":[35],"the":[36,48,62,72,77,82,85,93,97,101,130],"ground":[37,49,59,123,137],"robots":[42],"binocular":[44,54],"cameras.":[45],"At":[46],"first,":[47],"induced":[50],"homography":[51,73],"between":[52],"onboard":[53],"cameras":[55],"calibrated.":[57],"detection,":[61],"right":[63],"eye":[64,70,79,103],"image":[65,84,99,104],"warped":[67],"left":[69,78,102],"by":[71,76],"subtracted":[75],"image.":[80],"From":[81],"difference":[83,98],"rough":[86],"non-ground":[87],"regions":[88,114],"can":[89],"be":[90],"detected.":[91],"Then":[92],"closed":[94],"contours":[95],"on":[96],"are":[105,115],"searched":[106],"segment":[108],"them":[109],"into":[110],"regions.":[111],"These":[112],"corresponding":[113],"compared":[116],"judge":[118],"whether":[119],"they":[120],"belong":[121],"plane.":[124],"The":[125],"conducted":[126],"experiments":[127],"show":[128],"that":[129],"proposed":[131],"method":[132],"valid":[134],"detecting":[136],"area.":[138]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}