{"id":"https://openalex.org/W2131234357","doi":"https://doi.org/10.1109/robot.2002.1014443","title":"Feature detection and tracking for mobile robots using a combination of ladar and color images","display_name":"Feature detection and tracking for mobile robots using a combination of ladar and color images","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2131234357","doi":"https://doi.org/10.1109/robot.2002.1014443","mag":"2131234357"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014443","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":"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/A5043598453","display_name":"Tsai-Hong Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tsai-Hong Hong","raw_affiliation_strings":["National Institute of Standards and Technology, Gaithersburg, MD, USA","Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA"],"affiliations":[{"raw_affiliation_string":"National Institute of Standards and Technology, Gaithersburg, MD, USA","institution_ids":["https://openalex.org/I1321296531"]},{"raw_affiliation_string":"Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA","institution_ids":["https://openalex.org/I1321296531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061905262","display_name":"Tommy Chang","orcid":"https://orcid.org/0000-0001-5420-5480"},"institutions":[{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. Chang","raw_affiliation_strings":["National Institute of Standards and Technology, Gaithersburg, MD, USA","Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA"],"affiliations":[{"raw_affiliation_string":"National Institute of Standards and Technology, Gaithersburg, MD, USA","institution_ids":["https://openalex.org/I1321296531"]},{"raw_affiliation_string":"Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA","institution_ids":["https://openalex.org/I1321296531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005424498","display_name":"Christopher Rasmussen","orcid":null},"institutions":[{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Rasmussen","raw_affiliation_strings":["National Institute of Standards and Technology, Gaithersburg, MD","Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA"],"affiliations":[{"raw_affiliation_string":"National Institute of Standards and Technology, Gaithersburg, MD","institution_ids":["https://openalex.org/I1321296531"]},{"raw_affiliation_string":"Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA","institution_ids":["https://openalex.org/I1321296531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054042056","display_name":"Michael Shneier","orcid":"https://orcid.org/0000-0003-2667-0750"},"institutions":[{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Shneier","raw_affiliation_strings":["National Institute of Standards and Technology, Gaithersburg, MD, USA","Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA"],"affiliations":[{"raw_affiliation_string":"National Institute of Standards and Technology, Gaithersburg, MD, USA","institution_ids":["https://openalex.org/I1321296531"]},{"raw_affiliation_string":"Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA","institution_ids":["https://openalex.org/I1321296531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5043598453"],"corresponding_institution_ids":["https://openalex.org/I1321296531"],"apc_list":null,"apc_paid":null,"fwci":9.8728,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.98173668,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"4340","last_page":"4345"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.996999979019165,"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":0.9944000244140625,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7810137271881104},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.766758918762207},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7472382187843323},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5639035701751709},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5423354506492615},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5342679619789124},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5056929588317871},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.50291508436203},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4846706688404083},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.41988256573677063},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.18385621905326843},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16097718477249146}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7810137271881104},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.766758918762207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7472382187843323},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5639035701751709},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5423354506492615},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5342679619789124},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5056929588317871},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.50291508436203},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4846706688404083},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.41988256573677063},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.18385621905326843},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16097718477249146},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014443","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":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332178","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W28612579","https://openalex.org/W1501691825","https://openalex.org/W1553372013","https://openalex.org/W1595677842","https://openalex.org/W1795402530","https://openalex.org/W2029961636","https://openalex.org/W2110321815","https://openalex.org/W2131656657","https://openalex.org/W2138584058","https://openalex.org/W2160372210","https://openalex.org/W2626051579","https://openalex.org/W2735490160","https://openalex.org/W6629999832","https://openalex.org/W6675087972","https://openalex.org/W6676454616","https://openalex.org/W6888765124"],"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/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2363298784","https://openalex.org/W2367402697"],"abstract_inverted_index":{"In":[0,30],"an":[1],"outdoor,":[2],"off-road":[3],"mobile":[4],"robotics":[5],"environment,":[6],"it":[7],"is":[8,38,62,64,75,94],"important":[9,144],"to":[10,19,25,40,59,66,77,100,130],"identify":[11],"objects":[12],"that":[13],"can":[14],"affect":[15],"the":[16,31,51,60,85,89,98,109,112,120,135,139],"vehicle's":[17],"ability":[18],"traverse":[20],"its":[21],"planned":[22],"path,":[23],"and":[24,148],"determine":[26],"their":[27],"three-dimensional":[28],"characteristics.":[29],"paper,":[32],"a":[33,79,82,131],"combination":[34],"of":[35,50,84,88,108,123,127,134],"three":[36,125],"elements":[37],"used":[39,65,76,95],"accomplish":[41],"this":[42],"task.":[43],"An":[44],"imaging":[45,114],"ladar":[46,61],"collects":[47],"range":[48],"images":[49],"scene.":[52],"A":[53],"color":[54,68],"camera,":[55],"whose":[56],"position":[57],"relative":[58],"known,":[63],"gather":[67],"images.":[69],"Information":[70],"extracted":[71],"from":[72],"these":[73,124],"sensors":[74,110],"build":[78],"world":[80,92],"model,":[81],"representation":[83],"current":[86],"state":[87],"world.":[90],"The":[91,116],"model":[93],"actively":[96],"in":[97,106],"sensing":[99],"predict":[101],"what":[102],"should":[103],"be":[104],"visible":[105],"each":[107],"during":[111],"next":[113],"cycle.":[115],"paper":[117],"explains":[118],"how":[119],"combined":[121],"use":[122],"types":[126],"information":[128],"leads":[129],"robust":[132],"understanding":[133],"local":[136],"environment":[137],"surrounding":[138],"robotic":[140],"vehicle":[141],"for":[142],"two":[143],"tasks:":[145],"puddle/pond":[146],"avoidance":[147],"road":[149],"sign":[150],"detection.":[151]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}