{"id":"https://openalex.org/W2124274166","doi":"https://doi.org/10.1109/robio.2009.4913029","title":"Real-time 3D environment perception: An application for small humanoid robots","display_name":"Real-time 3D environment perception: An application for small humanoid robots","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2124274166","doi":"https://doi.org/10.1109/robio.2009.4913029","mag":"2124274166"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913029","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","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/A5003392384","display_name":"Denis Klimentjew","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"D. Klimentjew","raw_affiliation_strings":["Department of Informatics, University of Hamburg, Hamburg, Germany","Dept. of Informatics, University of Hamburg, Vogt-K\u00f6lln-Stra\u00dfe 30, 22527, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"Dept. of Informatics, University of Hamburg, Vogt-K\u00f6lln-Stra\u00dfe 30, 22527, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091181208","display_name":"Alexander Stroh","orcid":"https://orcid.org/0000-0003-0850-9883"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Stroh","raw_affiliation_strings":["Department of Informatics, University of Hamburg, Hamburg, Germany","Dept. of Informatics, University of Hamburg, Vogt-K\u00f6lln-Stra\u00dfe 30, 22527, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"Dept. of Informatics, University of Hamburg, Vogt-K\u00f6lln-Stra\u00dfe 30, 22527, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048649556","display_name":"Sascha Jockel","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Jockel","raw_affiliation_strings":["Department of Informatics, University of Hamburg, Hamburg, Germany","Dept. of Informatics, University of Hamburg, Vogt-K\u00f6lln-Stra\u00dfe 30, 22527, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"Dept. of Informatics, University of Hamburg, Vogt-K\u00f6lln-Stra\u00dfe 30, 22527, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326962","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-2103-7473"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["Department of Informatics, University of Hamburg, Hamburg, Germany","Dept. of Informatics, University of Hamburg, Vogt-K\u00f6lln-Stra\u00dfe 30, 22527, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"Dept. of Informatics, University of Hamburg, Vogt-K\u00f6lln-Stra\u00dfe 30, 22527, Germany","institution_ids":["https://openalex.org/I159176309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I159176309"],"apc_list":null,"apc_paid":null,"fwci":0.8045,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71899579,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"19","issue":null,"first_page":"354","last_page":"359"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/T10531","display_name":"Advanced Vision and Imaging","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":0.9998000264167786,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9993000030517578,"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/computer-vision","display_name":"Computer vision","score":0.7559911012649536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7531603574752808},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7002664804458618},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6256056427955627},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.6060618162155151},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5736331343650818},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5523977279663086},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.5451873540878296},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.5290865898132324},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5232835412025452},{"id":"https://openalex.org/keywords/stereoscopy","display_name":"Stereoscopy","score":0.4649658799171448},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4490181803703308},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.42995473742485046},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.42720115184783936},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4176492989063263},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.4172188639640808},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4062533974647522}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7559911012649536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7531603574752808},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7002664804458618},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6256056427955627},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.6060618162155151},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5736331343650818},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5523977279663086},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.5451873540878296},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.5290865898132324},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5232835412025452},{"id":"https://openalex.org/C126057942","wikidata":"https://www.wikidata.org/wiki/Q35158","display_name":"Stereoscopy","level":2,"score":0.4649658799171448},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4490181803703308},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.42995473742485046},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.42720115184783936},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4176492989063263},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.4172188639640808},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4062533974647522},{"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},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2009.4913029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913029","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.153.5237","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.153.5237","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://tams-www.informatik.uni-hamburg.de/publications/2008/ROBIO08_0080_Klimentjew.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W297039922","https://openalex.org/W1908164922","https://openalex.org/W1980809704","https://openalex.org/W1984190176","https://openalex.org/W2028310195","https://openalex.org/W2033819227","https://openalex.org/W2070574914","https://openalex.org/W2106034964","https://openalex.org/W2109749443","https://openalex.org/W2124535811","https://openalex.org/W2141332006","https://openalex.org/W2156982683","https://openalex.org/W2163003390","https://openalex.org/W2166974748","https://openalex.org/W2167667767","https://openalex.org/W4210588309","https://openalex.org/W4236020996","https://openalex.org/W6829897661"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W307265996","https://openalex.org/W2949709491","https://openalex.org/W128884630","https://openalex.org/W2905493506","https://openalex.org/W1987397303","https://openalex.org/W1992486622","https://openalex.org/W2735482304"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,9,90],"modular":[4,130],"software":[5,131],"architecture":[6,28],"based":[7,121],"on":[8,122],"stereo":[10,53],"camera":[11,54],"system":[12,55],"that":[13],"makes":[14],"real-time":[15],"3D":[16,36,112,125],"perception,":[17],"interaction":[18],"and":[19,68],"navigation":[20],"for":[21,32],"small":[22],"humanoid":[23],"robots":[24],"possible.":[25],"The":[26,84],"hardware-independent":[27],"can":[29,94,118],"be":[30,95,119],"used":[31],"several":[33],"purposes,":[34],"like":[35],"visualisation,":[37],"object":[38],"recognition,":[39],"self-localization,":[40],"collision":[41],"avoidance,":[42],"etc.":[43],"First":[44],"of":[45,51,62,92],"all,":[46],"the":[47,52,59,63,75,80,99,101,104,115,123],"intrinsic":[48],"calibration":[49],"parameters":[50,77],"are":[56,66,71],"identified.":[57],"Then":[58],"lens":[60],"distortions":[61],"input":[64],"images":[65,70],"revised,":[67],"both":[69],"rectified":[72],"according":[73],"to":[74,78],"extrinsic":[76],"facilitate":[79],"subsequent":[81],"correspondence":[82],"analysis.":[83],"imaged":[85],"scenery,":[86],"as":[87,89],"well":[88],"region":[91],"interest,":[93],"reconstructed":[96],"either":[97],"by":[98,108,128],"block-matching,":[100],"Schirai-":[102],"or":[103],"Birchfield":[105],"algorithm,":[106],"followed":[107],"triangulation":[109],"back":[110],"into":[111],"space.":[113],"Finally,":[114],"above-mentioned":[116],"aims":[117],"tackled":[120],"resulting":[124],"model":[126],"computed":[127],"our":[129],"architecture.":[132]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
