{"id":"https://openalex.org/W2157568568","doi":"https://doi.org/10.1109/robot.2003.1241634","title":"3D-odometry for rough terrain - towards real 3D navigation","display_name":"3D-odometry for rough terrain - towards real 3D navigation","publication_year":2005,"publication_date":"2005-04-12","ids":{"openalex":"https://openalex.org/W2157568568","doi":"https://doi.org/10.1109/robot.2003.1241634","mag":"2157568568"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241634","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":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/97505","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069712520","display_name":"Pierre Lamon","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"P. Lamon","raw_affiliation_strings":["Swiss Federal Institute of Technology, Lausanne (EPFL)","Swiss Federal Institute of Technology, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology, Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Swiss Federal Institute of Technology, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"R. Siegwart","raw_affiliation_strings":["Swiss Federal Institute of Technology, Lausanne (EPFL)"],"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology, Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5069712520"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":14.1995,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.98961986,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"440","last_page":"445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9987000226974487,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.986299991607666,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.9565376043319702},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7293910384178162},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6743001937866211},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6694154739379883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6543996334075928},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6530622839927673},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6507293581962585},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6335437893867493},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49467822909355164},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2012498676776886}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9565376043319702},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7293910384178162},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6743001937866211},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6694154739379883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6543996334075928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6530622839927673},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6507293581962585},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6335437893867493},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49467822909355164},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2012498676776886},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2003.1241634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241634","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"},{"id":"pmh:oai:infoscience.tind.io:97505","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/97505","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:infoscience.tind.io:97505","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/97505","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},"sustainable_development_goals":[{"score":0.6000000238418579,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W120192385","https://openalex.org/W1497270502","https://openalex.org/W2029569297","https://openalex.org/W2066545964","https://openalex.org/W2096837189","https://openalex.org/W2099065300","https://openalex.org/W2099901716","https://openalex.org/W2126613757","https://openalex.org/W2148164661","https://openalex.org/W2159756179","https://openalex.org/W6604967375","https://openalex.org/W6683511272"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Up":[0],"to":[1,9,35,71,93],"recently":[2],"autonomous":[3],"mobile":[4],"robots":[5],"were":[6],"mostly":[7],"designed":[8],"run":[10],"within":[11],"an":[12],"indoor,":[13],"yet":[14],"partly":[15],"structured":[16],"and":[17,26,40],"flat,":[18],"environment.":[19],"In":[20,44],"rough":[21],"terrain":[22],"many":[23],"problems":[24],"arise":[25],"position":[27,87],"tracking":[28],"becomes":[29],"more":[30],"difficult.":[31],"The":[32],"robot":[33],"has":[34],"deal":[36],"with":[37],"wheel":[38],"slippage":[39],"large":[41],"orientation":[42],"changes.":[43],"this":[45],"paper":[46],"we":[47],"will":[48,75,90],"first":[49],"present":[50],"the":[51,55,67,72,83],"recent":[52],"developments":[53],"on":[54],"off-road":[56],"rover":[57],"Shrimp.":[58],"Then":[59],"a":[60],"new":[61],"method,":[62],"called":[63],"3D-Odometry,":[64],"which":[65],"extends":[66],"standard":[68],"2D":[69],"odometry":[70],"3D":[73,97],"space":[74],"be":[76],"developed.":[77],"Since":[78],"it":[79],"accounts":[80],"for":[81,99],"transitions,":[82],"3D-Odometry":[84],"provides":[85],"better":[86],"estimates.":[88],"It":[89],"certainly":[91],"help":[92],"go":[94],"towards":[95],"real":[96],"navigation":[98],"outdoor":[100],"robots.":[101]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
