{"id":"https://openalex.org/W2107032518","doi":"https://doi.org/10.1109/robio.2009.5420701","title":"Digital Elevation Map estimation by vision-lidar fusion","display_name":"Digital Elevation Map estimation by vision-lidar fusion","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2107032518","doi":"https://doi.org/10.1109/robio.2009.5420701","mag":"2107032518"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420701","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5060521593","display_name":"Florent Malartre","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Florent Malartre","raw_affiliation_strings":["LASMEA, UMR, Aubiere, France","LASMEA - UMR 6602, 24, avenue des Landais, 63177 Aubi\u00e8re, France"],"affiliations":[{"raw_affiliation_string":"LASMEA, UMR, Aubiere, France","institution_ids":[]},{"raw_affiliation_string":"LASMEA - UMR 6602, 24, avenue des Landais, 63177 Aubi\u00e8re, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007698946","display_name":"Thomas F\u00e9raud","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thomas Feraud","raw_affiliation_strings":["LASMEA, UMR, Aubiere, France","LASMEA - UMR 6602, 24, avenue des Landais, 63177 Aubi\u00e8re, France"],"affiliations":[{"raw_affiliation_string":"LASMEA, UMR, Aubiere, France","institution_ids":[]},{"raw_affiliation_string":"LASMEA - UMR 6602, 24, avenue des Landais, 63177 Aubi\u00e8re, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061292767","display_name":"Christophe Debain","orcid":"https://orcid.org/0000-0002-6937-1841"},"institutions":[{"id":"https://openalex.org/I4210099416","display_name":"Laboratoire d'Informatique, de Mod\u00e9lisation et d'Optimisation des Syst\u00e8mes","ror":"https://ror.org/00t3fpp34","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I198244214","https://openalex.org/I198244214","https://openalex.org/I203339264","https://openalex.org/I205703379","https://openalex.org/I3019848993","https://openalex.org/I4210099416","https://openalex.org/I4210123221","https://openalex.org/I4210159245","https://openalex.org/I4387154249"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christophe Debain","raw_affiliation_strings":["CEMA GREF, Aubiere, France","CEMAGREF, 24, avenue des Landais, BP 50085, 63172 Aubi\u00e8re, France"],"affiliations":[{"raw_affiliation_string":"CEMA GREF, Aubiere, France","institution_ids":["https://openalex.org/I4210099416"]},{"raw_affiliation_string":"CEMAGREF, 24, avenue des Landais, BP 50085, 63172 Aubi\u00e8re, France","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102727440","display_name":"Roland Chapuis","orcid":"https://orcid.org/0000-0003-3799-4910"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roland Chapuis","raw_affiliation_strings":["LASMEA, UMR, Aubiere, France","LASMEA - UMR 6602, 24, avenue des Landais, 63177 Aubi\u00e8re, France"],"affiliations":[{"raw_affiliation_string":"LASMEA, UMR, Aubiere, France","institution_ids":[]},{"raw_affiliation_string":"LASMEA - UMR 6602, 24, avenue des Landais, 63177 Aubi\u00e8re, France","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5060521593"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":18.0925,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.98708178,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9984999895095825,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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","display_name":"Obstacle","score":0.7716233730316162},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7497718334197998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6972978115081787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6886391639709473},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6867868304252625},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5628413558006287},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.5543849468231201},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5113393664360046},{"id":"https://openalex.org/keywords/digital-elevation-model","display_name":"Digital elevation model","score":0.49835991859436035},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49530044198036194},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4684935510158539},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.43159377574920654},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4264466166496277},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4141591489315033},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.177828848361969},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1649998128414154},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.10085287690162659},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.06616735458374023}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7716233730316162},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7497718334197998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6972978115081787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6886391639709473},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6867868304252625},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5628413558006287},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.5543849468231201},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5113393664360046},{"id":"https://openalex.org/C181843262","wikidata":"https://www.wikidata.org/wiki/Q640492","display_name":"Digital elevation model","level":2,"score":0.49835991859436035},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49530044198036194},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4684935510158539},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.43159377574920654},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4264466166496277},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4141591489315033},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.177828848361969},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1649998128414154},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.10085287690162659},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.06616735458374023},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robio.2009.5420701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420701","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02592859v1","is_oa":false,"landing_page_url":"https://hal.inrae.fr/hal-02592859","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"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":"IEEE International Conference on Robotics and Biometrics,Robio 2009","raw_type":null},{"id":"pmh:oai:irsteadoc.irstea.fr:PUB00028156","is_oa":false,"landing_page_url":"https://irsteadoc.irstea.fr/cemoa/PUB00028156","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"23438","raw_type":"Communication scientifique avec actes"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2031672365","https://openalex.org/W2089652819","https://openalex.org/W2091332903","https://openalex.org/W2103120971","https://openalex.org/W2111308925","https://openalex.org/W2120231335","https://openalex.org/W2120771568","https://openalex.org/W2124386111","https://openalex.org/W2132400125","https://openalex.org/W2141250683","https://openalex.org/W2162146456","https://openalex.org/W2170141043","https://openalex.org/W4242269315","https://openalex.org/W4298631000","https://openalex.org/W6844138656"],"related_works":["https://openalex.org/W3148155918","https://openalex.org/W2462682329","https://openalex.org/W4206741056","https://openalex.org/W3040595263","https://openalex.org/W1621772017","https://openalex.org/W4239147863","https://openalex.org/W2909855017","https://openalex.org/W2352163239","https://openalex.org/W2264981486","https://openalex.org/W4210419302"],"abstract_inverted_index":{"This":[0,33,78],"paper":[1],"is":[2],"about":[3],"environment":[4],"perception":[5,68,84,101],"for":[6],"navigation":[7,62],"system":[8,97],"in":[9,39],"real":[10],"outdoor":[11],"applications.":[12],"Unlike":[13],"other":[14],"approaches":[15],"that":[16],"try":[17],"to":[18,36,41,70,81],"detect":[19],"an":[20],"obstacle":[21],"of":[22,90,106],"binary":[23],"state,":[24],"we":[25,65,94],"consider":[26],"here":[27],"a":[28,67,96],"Digital":[29],"Elevation":[30],"Map":[31],"(DEM).":[32],"map":[34],"has":[35],"be":[37],"built":[38],"regards":[40],"the":[42,50,61,72,74,104],"guidance":[43],"system's":[44,63],"needs.":[45],"These":[46],"needs":[47],"depend":[48],"on":[49,99],"vehicle":[51],"capabilities,":[52],"its":[53,56],"dynamical":[54],"constraints,":[55],"speed":[57],"etc...":[58],"Starting":[59],"with":[60],"needs,":[64],"establish":[66],"strategy":[69,102],"fill":[71],"DEM":[73],"most":[75],"accuratly":[76],"possible.":[77],"stategy":[79],"allows":[80],"efficiently":[82],"improve":[83],"capability":[85],"(sensors":[86],"and":[87,108],"computation":[88],"capabilities)":[89],"our":[91],"robot.":[92],"Then,":[93],"proposed":[95],"based":[98],"this":[100],"by":[103],"combinaison":[105],"vision":[107],"rangefinder.":[109]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
