{"id":"https://openalex.org/W3206988257","doi":"https://doi.org/10.1109/robio54168.2021.9739369","title":"Vision-based Navigation for a Small-scale Quadruped Robot Pegasus-Mini","display_name":"Vision-based Navigation for a Small-scale Quadruped Robot Pegasus-Mini","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W3206988257","doi":"https://doi.org/10.1109/robio54168.2021.9739369","mag":"3206988257"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739369","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739369","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5049254303","display_name":"Ganyu Deng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ganyu Deng","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084231233","display_name":"Jianwen Luo","orcid":"https://orcid.org/0000-0001-9215-5568"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwen Luo","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070406732","display_name":"Caiming Sun","orcid":"https://orcid.org/0000-0002-0033-9341"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caiming Sun","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109608633","display_name":"Dongwei Pan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongwei Pan","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104005745","display_name":"Longyao Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longyao Peng","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056692425","display_name":"Ning Ding","orcid":"https://orcid.org/0009-0001-2053-5024"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Ding","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101490495","display_name":"Aidong Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aidong Zhang","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK),Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS),Shenzhen,China,518172","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5049254303"],"corresponding_institution_ids":["https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":1.5375,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.80010251,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"893","last_page":"900"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9919999837875366,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.97079998254776,"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":0.7031809091567993},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6784684658050537},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.6644337773323059},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6590814590454102},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6543563008308411},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6037372350692749},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.592353880405426},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5329011082649231},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.49840354919433594},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4632630944252014},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4462590515613556},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.42794856429100037},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12370854616165161}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7031809091567993},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6784684658050537},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6644337773323059},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6590814590454102},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6543563008308411},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6037372350692749},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.592353880405426},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5329011082649231},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.49840354919433594},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4632630944252014},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4462590515613556},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.42794856429100037},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12370854616165161},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739369","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739369","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/9","score":0.5600000023841858,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335803","display_name":"Shenzhen Fundamental Research and Discipline Layout project","ror":null},{"id":"https://openalex.org/F4320336642","display_name":"Guangdong Special Support Plan","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1903029394","https://openalex.org/W2340897893","https://openalex.org/W2412782625","https://openalex.org/W2536431081","https://openalex.org/W2549216668","https://openalex.org/W2605791854","https://openalex.org/W2740036778","https://openalex.org/W2762439315","https://openalex.org/W2784947652","https://openalex.org/W2792693643","https://openalex.org/W2809054577","https://openalex.org/W2913921102","https://openalex.org/W2914653242","https://openalex.org/W2950302787","https://openalex.org/W2963424321","https://openalex.org/W2963881378","https://openalex.org/W2964309882","https://openalex.org/W2993296859","https://openalex.org/W3001031725","https://openalex.org/W3001377211","https://openalex.org/W3001752754","https://openalex.org/W3003183615","https://openalex.org/W3035707643","https://openalex.org/W3089515052","https://openalex.org/W3090033167","https://openalex.org/W3096411729","https://openalex.org/W3102994022","https://openalex.org/W3106874621","https://openalex.org/W3143499818","https://openalex.org/W3170422092","https://openalex.org/W3172321357","https://openalex.org/W4250058668","https://openalex.org/W4253729359"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W4285089922"],"abstract_inverted_index":{"Quadruped":[0],"locomotion":[1,38,75],"is":[2,64,69,117,143,158,167,199],"currently":[3],"a":[4,11,78,83,88,96,121,140,195,218],"vibrant":[5],"research":[6],"area,":[7],"which":[8,127,166],"has":[9,39],"reached":[10],"level":[12],"of":[13,20,173,184,212,227],"maturity":[14],"and":[15,33,45,61,101,131,215],"performance":[16],"that":[17,98],"enables":[18,99],"some":[19],"the":[21,53,56,105,128,146,151,163,170,174,178,182,185,191,202,207,225,228],"most":[22],"advanced":[23],"real-world":[24],"applications":[25],"with":[26],"autonomous":[27],"quadruped":[28,37,90,107,123],"robots":[29],"both":[30],"in":[31,43,52,73,114,119,126,150,177,217],"academia":[32],"industry.":[34],"Blind":[35],"robust":[36],"been":[40],"pushed":[41],"forward":[42],"control":[44],"technology":[46],"aspects":[47],"within":[48],"recent":[49],"decades.":[50],"However,":[51],"complicated":[54],"environment,":[55],"capability":[57],"including":[58],"terrain":[59],"perception":[60,68],"path":[62,148,176,186],"planning":[63,187],"still":[65],"required.":[66],"Visual":[67],"an":[70],"indispensable":[71],"ability":[72],"legged":[74],"for":[76,87,104,145],"such":[77,120],"demand.":[79],"This":[80],"study":[81,116],"explores":[82],"vision-based":[84,110],"navigation":[85,103,111,216],"method":[86,97,112,198],"small-scale":[89,106,122],"robot":[91,124],"Pegasus-Mini,":[92],"aiming":[93],"to":[94,205,223],"propose":[95],"efficient":[100],"reliable":[102],"locomotion.":[108],"The":[109,135,154],"proposed":[113,229],"this":[115],"applicable":[118],"platform":[125],"computation":[129],"resources":[130],"space":[132],"are":[133,221],"limited.":[134],"semantic":[136,192,213],"segmentation":[137,149,193,214],"based":[138,189],"on":[139,190],"CNN":[141],"model":[142],"adopted":[144],"real-time":[147,161],"outdoor":[152],"environment.":[153],"desired":[155],"traverse":[156],"trajectory":[157,196],"generated":[159],"through":[160],"updating":[162],"middle":[164],"line,":[165],"calculated":[168],"from":[169],"edge":[171],"position":[172],"segmented":[175],"images.":[179],"To":[180],"enhance":[181],"stability":[183],"directly":[188],"method,":[194],"compensation":[197],"supplemented":[200],"considering":[201],"temporal":[203],"information":[204],"revise":[206],"untrustworthy":[208],"planned":[209],"path.":[210],"Experiments":[211],"garden":[219],"scene":[220],"demonstrated":[222],"verify":[224],"effectiveness":[226],"method.":[230]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}