{"id":"https://openalex.org/W2159948268","doi":"https://doi.org/10.1109/robot.2002.1014224","title":"Robust estimation of planar regions for visual navigation using sequential stereo images","display_name":"Robust estimation of planar regions for visual navigation using sequential stereo images","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2159948268","doi":"https://doi.org/10.1109/robot.2002.1014224","mag":"2159948268"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","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/A5024453747","display_name":"Masatoshi Okutomi","orcid":"https://orcid.org/0000-0001-5787-0742"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Okutomi","raw_affiliation_strings":["Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075162748","display_name":"K. Nakano","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Nakano","raw_affiliation_strings":["Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009889524","display_name":"Junichi Maruyama","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Maruyama","raw_affiliation_strings":["Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110871488","display_name":"Takaaki Hara","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Hara","raw_affiliation_strings":["Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":1.4102,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.8260467,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"4","issue":null,"first_page":"3321","last_page":"3327"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9998000264167786,"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":0.9990000128746033,"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":0.808407187461853},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7743010520935059},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7097418308258057},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.588723361492157},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4592973291873932},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.19173139333724976}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.808407187461853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7743010520935059},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7097418308258057},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.588723361492157},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4592973291873932},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.19173139333724976}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4699999988079071,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W58172775","https://openalex.org/W1558517474","https://openalex.org/W1967291151","https://openalex.org/W2068684231","https://openalex.org/W2069239883","https://openalex.org/W2104463918","https://openalex.org/W2135703580","https://openalex.org/W2135973789","https://openalex.org/W2141712745","https://openalex.org/W2142185434","https://openalex.org/W2145713909","https://openalex.org/W2166967166","https://openalex.org/W6602319793","https://openalex.org/W6667928077","https://openalex.org/W6675710650","https://openalex.org/W6680388342"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0,65],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,67,87],"robust":[6],"method":[7,25,68,95],"to":[8,73],"estimate":[9],"planar":[10,63],"regions":[11],"using":[12,81],"sequential":[13,41,50,82],"stereo":[14,38,83],"images":[15,39,84],"for":[16,36,69],"visual":[17],"navigation":[18],"of":[19,55,103,105,112],"an":[20],"autonomous":[21],"vehicle.":[22,114],"The":[23,78],"proposed":[24,94],"estimates":[26],"2D":[27],"projective":[28,58],"transformations":[29,59],"dynamically,":[30],"which":[31],"represent":[32],"planes":[33],"in":[34,100],"space,":[35],"both":[37,56],"and":[40,60,108,110],"images.":[42],"This":[43],"can":[44,96],"be":[45],"done":[46],"robustly":[47,98],"by":[48],"utilizing":[49],"information,":[51],"i.e.":[52],"previous":[53],"estimation":[54],"the":[57,61,93,101,106,113],"corresponding":[62],"region.":[64],"addition,":[66],"preventing":[70],"misdetection":[71],"due":[72],"textureless":[74],"areas":[75],"is":[76],"proposed.":[77],"experimental":[79],"results,":[80],"taken":[85],"from":[86],"moving":[88],"vehicle,":[89],"have":[90],"shown":[91],"that":[92],"work":[97],"even":[99],"conditions":[102],"undulation":[104],"road":[107],"rolling":[109],"pitching":[111]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}