{"id":"https://openalex.org/W2111618333","doi":"https://doi.org/10.1109/robio.2009.4913168","title":"A biologically-inspired and resource-efficient vision system using mobile mini-robots for obstacle avoidance","display_name":"A biologically-inspired and resource-efficient vision system using mobile mini-robots for obstacle avoidance","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2111618333","doi":"https://doi.org/10.1109/robio.2009.4913168","mag":"2111618333"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913168","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":"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/A5077970000","display_name":"Teerapat Chinapirom","orcid":null},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Teerapat Chinapirom","raw_affiliation_strings":["System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany","System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Fuerstenallee 11, 33102, Germany"],"affiliations":[{"raw_affiliation_string":"System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]},{"raw_affiliation_string":"System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Fuerstenallee 11, 33102, Germany","institution_ids":["https://openalex.org/I206945453"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052046908","display_name":"Ulf Witkowski","orcid":null},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ulf Witkowski","raw_affiliation_strings":["System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany","System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Fuerstenallee 11, 33102, Germany"],"affiliations":[{"raw_affiliation_string":"System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]},{"raw_affiliation_string":"System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Fuerstenallee 11, 33102, Germany","institution_ids":["https://openalex.org/I206945453"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043372144","display_name":"Ulrich R\u00fcckert","orcid":null},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ulrich Ruckert","raw_affiliation_strings":["System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany","System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Fuerstenallee 11, 33102, Germany"],"affiliations":[{"raw_affiliation_string":"System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]},{"raw_affiliation_string":"System and Circuit Technology, Heinz Nixdorf Institute, University of Paderborn, Fuerstenallee 11, 33102, Germany","institution_ids":["https://openalex.org/I206945453"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5077970000"],"corresponding_institution_ids":["https://openalex.org/I206945453"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14615316,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"120","issue":null,"first_page":"1182","last_page":"1187"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9894999861717224,"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":0.9894999861717224,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.979200005531311,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9697999954223633,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7895938754081726},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7851744294166565},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6983744502067566},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6936235427856445},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5346806049346924},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5299922823905945},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5248256325721741},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5221158266067505},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.4491637647151947},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3847317695617676},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.13397729396820068},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09016278386116028},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.05550524592399597}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7895938754081726},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7851744294166565},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6983744502067566},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6936235427856445},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5346806049346924},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5299922823905945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5248256325721741},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5221158266067505},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.4491637647151947},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3847317695617676},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.13397729396820068},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09016278386116028},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.05550524592399597},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2009.4913168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913168","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:pub.librecat.org:2289231","is_oa":false,"landing_page_url":"https://pub.uni-bielefeld.de/record/2289231","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Chinapirom T, Witkowski U, R\u00fcckert U, eds. <em>A Biologically-Inspired and Resource-Efficient Vision System using Mobile Mini-Robots for Obstacle Avoidance</em>.; 2008.","raw_type":"info:eu-repo/semantics/conference_editor"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1485806285","https://openalex.org/W1583243647","https://openalex.org/W2093488518","https://openalex.org/W2136524615","https://openalex.org/W2155430240","https://openalex.org/W2171425630","https://openalex.org/W2221969277","https://openalex.org/W2332578720","https://openalex.org/W6628874706","https://openalex.org/W6689211097"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"This":[0,32],"paper":[1],"describes":[2],"a":[3,16,77,105],"resource-efficient":[4],"vision":[5],"system":[6],"for":[7,91],"the":[8,48,59,102,107,114,147],"mini-robot":[9,61],"\u201cKhepera\u201d.":[10],"It":[11],"is":[12,23,33,44,68,117,134],"implemented":[13],"to":[14,101,119],"perform":[15,86],"fundamental":[17],"approach":[18],"of":[19,38,50,55,140],"robotic":[20],"navigation,":[21],"which":[22,84,145],"obstacle":[24],"detection":[25],"by":[26,35,46,136],"using":[27],"an":[28,71],"optical":[29,41],"flow":[30,42],"algorithm.":[31],"inspired":[34],"visual":[36],"perception":[37],"insects.":[39],"The":[40,66,128,150],"field":[43],"evaluated":[45],"implementing":[47],"sum":[49],"absolute":[51],"differences":[52],"(SAD)":[53],"operation":[54,133],"block":[56],"matching":[57],"while":[58],"mobile":[60],"moves":[62],"on":[63,76],"texture":[64],"plane.":[65],"SAD":[67,132],"realized":[69],"in":[70,89,142],"additional":[72,115],"processing":[73,154],"module":[74,116],"based":[75],"Field":[78],"Programmable":[79],"Gate":[80],"Array":[81],"(FPGA)":[82],"solution":[83],"can":[85],"various":[87],"tasks":[88],"parallel;":[90],"example,":[92],"image":[93],"processing,":[94],"camera":[95,112],"control":[96],"and":[97,113,156],"symbolic":[98],"protocol":[99],"transmission":[100],"mini-robot.":[103],"As":[104],"result,":[106],"Khepera":[108],"equipped":[109],"with":[110,124],"2D":[111],"able":[118],"autonomously":[120],"move":[121],"avoiding":[122],"collisions":[123],"obstacles,":[125],"called":[126],"ego-motion.":[127],"30":[129],"\u00d7":[130],"16":[131,138],"processed":[135],"computing":[137],"pairs":[139],"pixels":[141],"each":[143],"operation,":[144],"accomplishes":[146],"real-time":[148],"approach.":[149],"proposed":[151],"implementation":[152],"reduces":[153],"time":[155],"power":[157],"consumption.":[158]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}