{"id":"https://openalex.org/W2054015309","doi":"https://doi.org/10.1109/robio.2012.6491233","title":"Parallelized energy minimization for real-time Markov random field terrain classification in natural environments","display_name":"Parallelized energy minimization for real-time Markov random field terrain classification in natural environments","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2054015309","doi":"https://doi.org/10.1109/robio.2012.6491233","mag":"2054015309"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491233","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491233","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5033423535","display_name":"Marcel H\u00e4selich","orcid":null},"institutions":[{"id":"https://openalex.org/I2802076133","display_name":"University of Koblenz and Landau","ror":"https://ror.org/01j9f6752","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802076133"]},{"id":"https://openalex.org/I4387153937","display_name":"Universit\u00e4t Koblenz","ror":"https://ror.org/0433e6t24","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153937"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Marcel H\u00e4selich","raw_affiliation_strings":["Active Vision Group, University of Koblenz-Landau, Universitätsstr. 1, 56070 Koblenz, Germany","Active Vision Group, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070 Koblenz, Germany"],"affiliations":[{"raw_affiliation_string":"Active Vision Group, University of Koblenz-Landau, Universitätsstr. 1, 56070 Koblenz, Germany","institution_ids":["https://openalex.org/I2802076133"]},{"raw_affiliation_string":"Active Vision Group, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070 Koblenz, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066603039","display_name":"Simon Eggert","orcid":null},"institutions":[{"id":"https://openalex.org/I4387153937","display_name":"Universit\u00e4t Koblenz","ror":"https://ror.org/0433e6t24","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153937"]},{"id":"https://openalex.org/I2802076133","display_name":"University of Koblenz and Landau","ror":"https://ror.org/01j9f6752","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802076133"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon Eggert","raw_affiliation_strings":["Active Vision Group, University of Koblenz-Landau, Universitätsstr. 1, 56070 Koblenz, Germany","Active Vision Group, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070 Koblenz, Germany"],"affiliations":[{"raw_affiliation_string":"Active Vision Group, University of Koblenz-Landau, Universitätsstr. 1, 56070 Koblenz, Germany","institution_ids":["https://openalex.org/I2802076133"]},{"raw_affiliation_string":"Active Vision Group, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070 Koblenz, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008718172","display_name":"Dietrich Paulus","orcid":"https://orcid.org/0000-0002-2967-5277"},"institutions":[{"id":"https://openalex.org/I4387153937","display_name":"Universit\u00e4t Koblenz","ror":"https://ror.org/0433e6t24","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153937"]},{"id":"https://openalex.org/I2802076133","display_name":"University of Koblenz and Landau","ror":"https://ror.org/01j9f6752","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802076133"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dietrich Paulus","raw_affiliation_strings":["Active Vision Group, University of Koblenz-Landau, Universitätsstr. 1, 56070 Koblenz, Germany","Active Vision Group, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070 Koblenz, Germany"],"affiliations":[{"raw_affiliation_string":"Active Vision Group, University of Koblenz-Landau, Universitätsstr. 1, 56070 Koblenz, Germany","institution_ids":["https://openalex.org/I2802076133"]},{"raw_affiliation_string":"Active Vision Group, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070 Koblenz, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033423535"],"corresponding_institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.12306695,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1823","last_page":"1828"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9962999820709229,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9962999820709229,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9951000213623047,"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"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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-science","display_name":"Computer science","score":0.7771822810173035},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7092294096946716},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5659595131874084},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5335239768028259},{"id":"https://openalex.org/keywords/energy-minimization","display_name":"Energy minimization","score":0.5304809212684631},{"id":"https://openalex.org/keywords/markov-random-field","display_name":"Markov random field","score":0.509563684463501},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4906536638736725},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.449036568403244},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.43940621614456177},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40910252928733826},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33693525195121765},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.0902489721775055}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7771822810173035},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7092294096946716},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5659595131874084},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5335239768028259},{"id":"https://openalex.org/C14961307","wikidata":"https://www.wikidata.org/wiki/Q5377176","display_name":"Energy minimization","level":2,"score":0.5304809212684631},{"id":"https://openalex.org/C2778045648","wikidata":"https://www.wikidata.org/wiki/Q176827","display_name":"Markov random field","level":4,"score":0.509563684463501},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4906536638736725},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.449036568403244},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.43940621614456177},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40910252928733826},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33693525195121765},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.0902489721775055},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C147597530","wikidata":"https://www.wikidata.org/wiki/Q369472","display_name":"Computational chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/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},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6491233","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491233","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1554884521","https://openalex.org/W1585381382","https://openalex.org/W2020999234","https://openalex.org/W2069444915","https://openalex.org/W2082092681","https://openalex.org/W2089652819","https://openalex.org/W2100116220","https://openalex.org/W2102523882","https://openalex.org/W2110638237","https://openalex.org/W2114220616","https://openalex.org/W2115446322","https://openalex.org/W2123222503","https://openalex.org/W2123831806","https://openalex.org/W2151606974","https://openalex.org/W2155697938","https://openalex.org/W2394946233","https://openalex.org/W2395355800","https://openalex.org/W2994982620","https://openalex.org/W6632964706","https://openalex.org/W6634937374","https://openalex.org/W6682348723","https://openalex.org/W6711642543"],"related_works":["https://openalex.org/W2036807459","https://openalex.org/W2541791370","https://openalex.org/W2035976912","https://openalex.org/W2109974539","https://openalex.org/W2738084969","https://openalex.org/W2125927971","https://openalex.org/W2954664659","https://openalex.org/W1999222583","https://openalex.org/W2042311553","https://openalex.org/W2980357211"],"abstract_inverted_index":{"Regarding":[0],"collision":[1],"avoidance,":[2],"precise":[3],"track":[4],"following,":[5],"a":[6,23,55,78,211,226,248,256],"robust":[7],"and":[8,12,25,66,138,161,179,192],"fast":[9],"obstacle":[10],"detection,":[11],"surface":[13,64],"information":[14,102,116],"extraction,":[15],"terrain":[16,39,96,126,189,216],"classification":[17,127,190],"in":[18,52,70,144,261],"unstructured":[19],"natural":[20],"environments":[21],"is":[22],"complex":[24],"challenging":[26],"task.":[27],"In":[28,153,182],"our":[29,187,197],"scenario,":[30],"an":[31,112],"autonomous":[32],"ground":[33],"robot":[34,60,73,93],"has":[35,61],"to":[36,62,83,88,117,150,155,171,213,243,254],"explore":[37],"rough":[38,95],"without":[40],"any":[41],"knowledge":[42],"of":[43,54,77,91,114,132,148],"underlying":[44],"road":[45],"networks,":[46],"as":[47],"they":[48],"could":[49],"be":[50,104],"available":[51],"form":[53],"given":[56],"map.":[57],"Therefore,":[58],"the":[59,75,85,89,92,100,158,173,215,230,235],"detect":[63],"conditions":[65],"obstacles":[67,137],"by":[68,247],"itself":[69],"real-time.":[71,262],"Our":[72,123],"uses":[74],"data":[76],"3D":[79],"Laser":[80],"range":[81],"finder":[82],"perceive":[84],"environment.":[86],"Due":[87],"movement":[90],"over":[94],"or":[97,106],"sensor":[98],"noise,":[99],"perceived":[101],"may":[103],"disturbed":[105],"erroneous.":[107],"Markov":[108,198],"random":[109,199],"fields":[110],"allow":[111],"incorporation":[113],"neighborhood":[115],"improve":[118],"robustness":[119],"against":[120],"such":[121],"influences.":[122],"previously":[124],"published":[125],"algorithm":[128],"achieves":[129],"recall":[130,238],"ratios":[131],"about":[133],"90%":[134],"for":[135,196],"detecting":[136],"drivable":[139],"areas.":[140],"The":[141],"system":[142,174],"operates":[143],"realtime":[145],"at":[146,166],"distances":[147],"up":[149],"20":[151],"m.":[152],"order":[154],"further":[156],"increase":[157],"processible":[159],"area":[160,260],"therefore":[162],"enable":[163],"safe":[164],"navigation":[165],"higher":[167],"speeds,":[168],"we":[169,185,209,224,240],"seek":[170],"optimize":[172],"performance":[175],"using":[176,219],"multicore":[177],"CPU":[178,221],"GPGPU":[180],"hardware.":[181],"this":[183],"paper,":[184],"extend":[186],"previous":[188],"approach":[191],"present":[193,210],"runtime":[194],"optimizations":[195],"field":[200],"energy":[201,217,245],"minimization":[202,218,246],"via":[203],"Gibbs":[204],"sampling.":[205],"Besides":[206],"memory":[207],"optimizations,":[208],"solution":[212],"parallelize":[214],"multiple":[220],"threads.":[222],"Further,":[223],"introduce":[225],"parallelization":[227],"performed":[228],"on":[229],"graphics":[231],"card.":[232],"While":[233],"maintaining":[234],"aforementioned":[236],"high":[237],"ratios,":[239],"are":[241],"able":[242],"accelerate":[244],"factor":[249],"10":[250],"which":[251],"allows":[252],"us":[253],"process":[255],"2.5":[257],"times":[258],"larger":[259]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}