{"id":"https://openalex.org/W2125019753","doi":"https://doi.org/10.1109/robio.2010.5723381","title":"Natural landmark extraction in 2D laser data based on local curvature scale for mobile robot navigation","display_name":"Natural landmark extraction in 2D laser data based on local curvature scale for mobile robot navigation","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2125019753","doi":"https://doi.org/10.1109/robio.2010.5723381","mag":"2125019753"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5032003222","display_name":"Mingyong Liu","orcid":"https://orcid.org/0000-0002-7480-2271"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingyong Liu","raw_affiliation_strings":["College of Marine, Northwestern Polytechnical University, Xi'an, China","College of Marine, Northwestern Polytechnical University, Youyi Xilu, Xi'an 710072 China"],"affiliations":[{"raw_affiliation_string":"College of Marine, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"College of Marine, Northwestern Polytechnical University, Youyi Xilu, Xi'an 710072 China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085630914","display_name":"Xiaokang Lei","orcid":"https://orcid.org/0000-0003-0517-6606"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaokang Lei","raw_affiliation_strings":["College of Marine, Northwestern Polytechnical University, Xi'an, China","College of Marine, Northwestern Polytechnical University, Youyi Xilu, Xi'an 710072 China"],"affiliations":[{"raw_affiliation_string":"College of Marine, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"College of Marine, Northwestern Polytechnical University, Youyi Xilu, Xi'an 710072 China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084676199","display_name":"Siqi Zhang","orcid":"https://orcid.org/0000-0001-5541-6917"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqi Zhang","raw_affiliation_strings":["College of Marine, Northwestern Polytechnical University, Xi'an, China","College of Marine, Northwestern Polytechnical University, Youyi Xilu, Xi'an 710072 China"],"affiliations":[{"raw_affiliation_string":"College of Marine, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"College of Marine, Northwestern Polytechnical University, Youyi Xilu, Xi'an 710072 China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005037126","display_name":"Bingxian Mu","orcid":"https://orcid.org/0000-0003-3015-226X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingxian Mu","raw_affiliation_strings":["College of Marine, Northwestern Polytechnical University, Xi'an, China","College of Marine, Northwestern Polytechnical University, Youyi Xilu, Xi'an 710072 China"],"affiliations":[{"raw_affiliation_string":"College of Marine, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"College of Marine, Northwestern Polytechnical University, Youyi Xilu, Xi'an 710072 China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032003222"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.8613,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.80904257,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"6914","issue":null,"first_page":"525","last_page":"530"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9868000149726868,"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/T11904","display_name":"Spatial Cognition and Navigation","score":0.9850000143051147,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/landmark","display_name":"Landmark","score":0.9040682315826416},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.7209993004798889},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.703020453453064},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6858261823654175},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6396435499191284},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.636101484298706},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6344006657600403},{"id":"https://openalex.org/keywords/scale-space","display_name":"Scale space","score":0.6308781504631042},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5782921314239502},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5216134786605835},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4542754590511322},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.44206368923187256},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4330928921699524},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4118371903896332},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.35404911637306213},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.22714823484420776},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19802647829055786},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.18478405475616455},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16404810547828674},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12591469287872314},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08546069264411926}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.9040682315826416},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.7209993004798889},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.703020453453064},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6858261823654175},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6396435499191284},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.636101484298706},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6344006657600403},{"id":"https://openalex.org/C99102927","wikidata":"https://www.wikidata.org/wiki/Q3058184","display_name":"Scale space","level":4,"score":0.6308781504631042},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5782921314239502},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5216134786605835},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4542754590511322},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.44206368923187256},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4330928921699524},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4118371903896332},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.35404911637306213},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.22714823484420776},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19802647829055786},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.18478405475616455},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16404810547828674},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12591469287872314},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08546069264411926},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334924","display_name":"Program for New Century Excellent Talents in University","ror":"https://ror.org/01mv9t934"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1978262433","https://openalex.org/W1990754168","https://openalex.org/W2003258311","https://openalex.org/W2012630817","https://openalex.org/W2025801240","https://openalex.org/W2067611711","https://openalex.org/W2076292910","https://openalex.org/W2101994002","https://openalex.org/W2109863423","https://openalex.org/W2110023963","https://openalex.org/W2129950897","https://openalex.org/W2154319116","https://openalex.org/W6644650554","https://openalex.org/W6676206294","https://openalex.org/W6676598158"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W2052388267","https://openalex.org/W2142338363","https://openalex.org/W2350699021","https://openalex.org/W2374392618","https://openalex.org/W2168716251","https://openalex.org/W2033156724"],"abstract_inverted_index":{"This":[0,36],"paper":[1],"proposes":[2],"a":[3,41,49],"novel":[4,50],"algorithm":[5,16,92],"for":[6,98],"natural":[7],"landmark":[8],"extraction":[9],"from":[10],"2D":[11],"laser":[12],"scan":[13],"data.":[14],"The":[15],"permits":[17],"to":[18,66,95],"extract":[19],"several":[20],"types":[21],"of":[22,30,52,68,71],"landmarks":[23,97],"such":[24],"as":[25],"dominant":[26],"points,":[27],"edges,":[28],"center":[29],"curve":[31],"segments":[32],"and":[33],"virtual":[34],"corners.":[35],"is":[37,62,76,93],"achieved":[38],"by":[39],"using":[40],"new":[42],"geometrical":[43],"feature":[44],"identification":[45],"approach":[46,61],"based":[47,82],"on":[48,83],"concept":[51],"local":[53,56],"scale":[54,72,84],"called":[55],"curvature":[57],"scale.":[58],"Intuitively,":[59],"this":[60],"computationally":[63],"efficiencies":[64],"due":[65],"needless":[67],"the":[69,79,91],"construction":[70],"space":[73,85],"map":[74],"which":[75],"required":[77],"in":[78],"other":[80],"methods":[81],"theory.":[86],"Experimental":[87],"results":[88],"show":[89],"that":[90],"efficient":[94],"detect":[96],"semi-structured":[99],"environments.":[100]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}