{"id":"https://openalex.org/W1889559682","doi":"https://doi.org/10.1109/robot.1987.1088049","title":"Model based geometric reasoning for autonomous road following","display_name":"Model based geometric reasoning for autonomous road following","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W1889559682","doi":"https://doi.org/10.1109/robot.1987.1088049","mag":"1889559682"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1088049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1088049","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5065393526","display_name":"D. Kuan","orcid":null},"institutions":[{"id":"https://openalex.org/I156317336","display_name":"FMC (United States)","ror":"https://ror.org/01h95gp06","country_code":"US","type":"company","lineage":["https://openalex.org/I156317336"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Kuan","raw_affiliation_strings":["Artificial Intelligence Center, Central Engineering Laboratories, FMC Corporation, Santa Clara, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Center, Central Engineering Laboratories, FMC Corporation, Santa Clara, CA","institution_ids":["https://openalex.org/I156317336"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055146474","display_name":"Upendra K. Sharma","orcid":"https://orcid.org/0000-0001-7489-2337"},"institutions":[{"id":"https://openalex.org/I156317336","display_name":"FMC (United States)","ror":"https://ror.org/01h95gp06","country_code":"US","type":"company","lineage":["https://openalex.org/I156317336"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"U. Sharma","raw_affiliation_strings":["Artificial Intelligence Center, Central Engineering Laboratories, FMC Corporation, Santa Clara, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Center, Central Engineering Laboratories, FMC Corporation, Santa Clara, CA","institution_ids":["https://openalex.org/I156317336"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I156317336"],"apc_list":null,"apc_paid":null,"fwci":1.0259,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.75580386,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"4","issue":null,"first_page":"416","last_page":"423"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9945999979972839,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9932000041007996,"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/computer-vision","display_name":"Computer vision","score":0.7151621580123901},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6683955192565918},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6402453780174255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6376517415046692},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5873813033103943},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.550421416759491},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.5412679314613342},{"id":"https://openalex.org/keywords/reasoning-system","display_name":"Reasoning system","score":0.4805722236633301},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.46766483783721924},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.44778475165367126},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10499420762062073}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7151621580123901},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6683955192565918},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6402453780174255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6376517415046692},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5873813033103943},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.550421416759491},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.5412679314613342},{"id":"https://openalex.org/C89288958","wikidata":"https://www.wikidata.org/wiki/Q7301504","display_name":"Reasoning system","level":2,"score":0.4805722236633301},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.46766483783721924},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.44778475165367126},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10499420762062073},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1088049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1088049","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W94300541","https://openalex.org/W1509934357","https://openalex.org/W2016900505","https://openalex.org/W2040969530","https://openalex.org/W2117123327","https://openalex.org/W2133144940","https://openalex.org/W2160491021","https://openalex.org/W2160982455","https://openalex.org/W6603886477","https://openalex.org/W6660705860","https://openalex.org/W6679664869"],"related_works":["https://openalex.org/W2395908292","https://openalex.org/W207131014","https://openalex.org/W1999714552","https://openalex.org/W2381537795","https://openalex.org/W2138209828","https://openalex.org/W2107407862","https://openalex.org/W2154661774","https://openalex.org/W37308468","https://openalex.org/W184802582","https://openalex.org/W1517957937"],"abstract_inverted_index":{"This":[0,127],"paper":[1],"describes":[2],"a":[3,49,85,134],"model-based":[4,61],"geometric":[5,50,66],"reasoning":[6,51,62,128],"module":[7,52,129],"for":[8,68],"autonomous":[9,28,143],"road":[10,13,17,34,70,106,115,119,135,144],"following.":[11],"Vision-guided":[12],"following":[14,136,145],"requires":[15],"extracting":[16],"boundaries":[18],"from":[19],"images":[20],"in":[21],"real-time":[22],"to":[23,40,59,83,113],"guide":[24],"the":[25,89,105],"navigation":[26],"of":[27,88,104,141],"vehicles":[29],"on":[30,97],"roadway.":[31],"The":[32],"detected":[33,124],"region":[35],"boundary":[36],"is":[37,63,81,107,139],"error-prone":[38],"due":[39,112],"imperfect":[41],"image":[42],"segmentation.":[43],"To":[44],"achieve":[45],"robust":[46],"system":[47,137],"performance,":[48],"that":[53],"uses":[54],"spatial":[55],"and":[56,75,77,109,125],"temporal":[57],"constraints":[58],"perform":[60],"required.":[64],"Local":[65],"supports":[67],"each":[69],"edge":[71],"segment":[72],"are":[73],"collected":[74],"recorded":[76],"global":[78],"consistency":[79],"checking":[80],"performed":[82],"obtain":[84],"consistent":[86],"interpretation":[87],"raw":[90],"data.":[91],"Cases":[92],"involving":[93],"incomplete":[94],"sensor":[95],"data,":[96],"curved":[98],"roads":[99],"where":[100],"only":[101],"one":[102],"side":[103],"visible,":[108],"incorrect":[110],"segmentation":[111],"shadows,":[114],"patches,":[116],"or":[117],"unusual":[118],"conditions,":[120],"can":[121],"usually":[122],"be":[123],"corrected.":[126],"has":[130],"been":[131],"integrated":[132],"into":[133],"which":[138],"capable":[140],"supporting":[142],"at":[146],"19":[147],"km/hr.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}