{"id":"https://openalex.org/W1489760153","doi":"https://doi.org/10.1109/robot.2003.1241564","title":"Foliage discrimination using a rotating ladar","display_name":"Foliage discrimination using a rotating ladar","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W1489760153","doi":"https://doi.org/10.1109/robot.2003.1241564","mag":"1489760153"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5114074982","display_name":"A. Casta\u00f1o","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"A. Castano","raw_affiliation_strings":["Jet Propulsion Laboratory, Pasadena, CA, USA","Jet Propulsion Lab., Pasadena, CA (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., Pasadena, CA (USA)","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074075243","display_name":"Larry Matthies","orcid":"https://orcid.org/0000-0002-9045-0181"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. Matthies","raw_affiliation_strings":["Jet Propulsion Laboratory, Pasadena, CA, USA","Jet Propulsion Lab., Pasadena, CA (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Lab., Pasadena, CA (USA)","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5114074982"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":5.6383,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.95429634,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"1","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.9847999811172485,"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":0.9819999933242798,"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/locality","display_name":"Locality","score":0.7900451421737671},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7051768898963928},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6998409032821655},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6956381797790527},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6478590965270996},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6207796335220337},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5807245373725891},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.512729287147522},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49193716049194336},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4582606256008148},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4285829961299896},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16482171416282654},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.12608113884925842},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09550759196281433}],"concepts":[{"id":"https://openalex.org/C2779808786","wikidata":"https://www.wikidata.org/wiki/Q6664603","display_name":"Locality","level":2,"score":0.7900451421737671},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7051768898963928},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6998409032821655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6956381797790527},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6478590965270996},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6207796335220337},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5807245373725891},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.512729287147522},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49193716049194336},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4582606256008148},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4285829961299896},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16482171416282654},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.12608113884925842},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09550759196281433},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2003.1241564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W140886887","https://openalex.org/W1992967753","https://openalex.org/W2011374786","https://openalex.org/W2069239883","https://openalex.org/W2096838415","https://openalex.org/W2097261533","https://openalex.org/W2151774119","https://openalex.org/W6605717084","https://openalex.org/W6674470826","https://openalex.org/W6674709851"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W4319317934","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W2901265155","https://openalex.org/W4285370786","https://openalex.org/W2296488620"],"abstract_inverted_index":{"An":[0],"outdoor":[1,187],"environment":[2],"presents":[3],"to":[4,26,76,109,116,139,165,180],"a":[5,35,60,77,82,90,93,141],"robot":[6,36,174],"objects":[7,53],"that":[8,86,112],"are":[9,101],"drivable,":[10,56],"such":[11,20],"as":[12,21,55,99,104],"tall":[13],"grass":[14,183],"and":[15,18,23,66,125,133,158],"small":[16],"bushes,":[17],"non-drivable,":[19],"trees":[22],"rocks.":[24],"Due":[25],"the":[27,73,118,122,152,161,169],"difficulty":[28],"of":[29,41,63,127,137,154],"discriminating":[30,144],"between":[31],"these":[32],"classes,":[33],"traditionally":[34],"searches":[37],"for":[38,146],"paths":[39,65],"free":[40],"any":[42],"objects,":[43,119],"drivable":[44,64,182],"or":[45],"not.":[46],"Although":[47],"this":[48,178],"approach":[49],"prevents":[50],"collisions":[51],"with":[52],"misclassified":[54],"it":[57,70],"also":[58],"eliminates":[59],"large":[61],"number":[62],"by":[67],"doing":[68],"so,":[69],"may":[71],"eliminate":[72],"only":[74],"path":[75],"desired":[78],"destination.":[79],"We":[80],"present":[81],"real":[83],"time":[84],"algorithm":[85,179],"detects":[87],"foliage,":[88],"using":[89,168,177],"range":[91,114],"from":[92,184],"rotating":[94],"ladar.":[95],"Objects":[96],"not":[97],"classified":[98],"foliage":[100],"conservatively":[102],"labeled":[103],"nondrivable":[105],"obstacles.":[106],"In":[107],"contrast":[108],"related":[110],"work":[111],"uses":[113],"statistics":[115],"classify":[117],"we":[120,150],"exploit":[121],"expected":[123],"localities":[124],"continuities":[126],"an":[128],"obstacle,":[129],"in":[130],"both":[131],"space":[132],"time.":[134],"Also,":[135],"instead":[136],"attempting":[138],"find":[140],"single":[142],"accurate":[143],"factor":[145],"every":[147],"ladar":[148],"return,":[149],"hypothesize":[151],"class":[153],"some":[155],"few":[156],"returns":[157,167],"then":[159],"spread":[160],"confidence":[162],"(and":[163],"classification)":[164],"other":[166],"locality":[170],"constraints.":[171],"The":[172],"Urbie":[173],"is":[175],"presently":[176],"discriminate":[181],"obstacles":[185],"during":[186],"autonomous":[188],"navigation":[189],"tasks.":[190]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}