{"id":"https://openalex.org/W2153174555","doi":"https://doi.org/10.1109/robot.2005.1570601","title":"Pre-Historical Cave Fruition through Robotic Inspection","display_name":"Pre-Historical Cave Fruition through Robotic Inspection","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2153174555","doi":"https://doi.org/10.1109/robot.2005.1570601","mag":"2153174555"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5049729897","display_name":"Tommaso Gramegna","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146308","display_name":"Institute of Intelligent Systems for Automation","ror":"https://ror.org/051t1q308","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210146308","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"T. Gramegna","raw_affiliation_strings":["Institute of Intelligent Systems for Automation, CNR-ISSIA, Bari, Italy"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Systems for Automation, CNR-ISSIA, Bari, Italy","institution_ids":["https://openalex.org/I4210146308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026746246","display_name":"Lea Venturino","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146308","display_name":"Institute of Intelligent Systems for Automation","ror":"https://ror.org/051t1q308","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210146308","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"L. Venturino","raw_affiliation_strings":["Institute of Intelligent Systems for Automation, CNR-ISSIA, Bari, Italy"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Systems for Automation, CNR-ISSIA, Bari, Italy","institution_ids":["https://openalex.org/I4210146308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017450518","display_name":"M. Ianigro","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146308","display_name":"Institute of Intelligent Systems for Automation","ror":"https://ror.org/051t1q308","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210146308","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Ianigro","raw_affiliation_strings":["Institute of Intelligent Systems for Automation, CNR-ISSIA, Bari, Italy"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Systems for Automation, CNR-ISSIA, Bari, Italy","institution_ids":["https://openalex.org/I4210146308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061243366","display_name":"G. Attolico","orcid":"https://orcid.org/0000-0002-9249-1200"},"institutions":[{"id":"https://openalex.org/I4210146308","display_name":"Institute of Intelligent Systems for Automation","ror":"https://ror.org/051t1q308","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210146308","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. Attolico","raw_affiliation_strings":["Institute of Intelligent Systems for Automation, CNR-ISSIA, Bari, Italy"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Systems for Automation, CNR-ISSIA, Bari, Italy","institution_ids":["https://openalex.org/I4210146308"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023028608","display_name":"A. Distante","orcid":"https://orcid.org/0000-0003-2776-0192"},"institutions":[{"id":"https://openalex.org/I4210146308","display_name":"Institute of Intelligent Systems for Automation","ror":"https://ror.org/051t1q308","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210146308","https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Distante","raw_affiliation_strings":["Institute of Intelligent Systems for Automation, CNR-ISSIA, Bari, Italy"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Systems for Automation, CNR-ISSIA, Bari, Italy","institution_ids":["https://openalex.org/I4210146308"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5049729897"],"corresponding_institution_ids":["https://openalex.org/I4210146308"],"apc_list":null,"apc_paid":null,"fwci":2.8367,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.90805204,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3187","last_page":"3192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9943000078201294,"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/T12364","display_name":"Archaeological Research and Protection","score":0.9775999784469604,"subfield":{"id":"https://openalex.org/subfields/1912","display_name":"Space and Planetary Science"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cave","display_name":"Cave","score":0.8058326840400696},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6387543082237244},{"id":"https://openalex.org/keywords/painting","display_name":"Painting","score":0.6376017332077026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6133179664611816},{"id":"https://openalex.org/keywords/damages","display_name":"Damages","score":0.5216641426086426},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5200252532958984},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4739677608013153},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45169776678085327},{"id":"https://openalex.org/keywords/cultural-heritage","display_name":"Cultural heritage","score":0.4194777309894562},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4143625497817993},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3819608688354492},{"id":"https://openalex.org/keywords/archaeology","display_name":"Archaeology","score":0.35198771953582764},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3313707411289215},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2502814829349518},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21317073702812195},{"id":"https://openalex.org/keywords/visual-arts","display_name":"Visual arts","score":0.19247370958328247},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.14152821898460388}],"concepts":[{"id":"https://openalex.org/C171878925","wikidata":"https://www.wikidata.org/wiki/Q35509","display_name":"Cave","level":2,"score":0.8058326840400696},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6387543082237244},{"id":"https://openalex.org/C205783811","wikidata":"https://www.wikidata.org/wiki/Q11629","display_name":"Painting","level":2,"score":0.6376017332077026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6133179664611816},{"id":"https://openalex.org/C2777381055","wikidata":"https://www.wikidata.org/wiki/Q308922","display_name":"Damages","level":2,"score":0.5216641426086426},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5200252532958984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4739677608013153},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45169776678085327},{"id":"https://openalex.org/C60671577","wikidata":"https://www.wikidata.org/wiki/Q210272","display_name":"Cultural heritage","level":2,"score":0.4194777309894562},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4143625497817993},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3819608688354492},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.35198771953582764},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3313707411289215},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2502814829349518},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21317073702812195},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.19247370958328247},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.14152821898460388},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W90455899","https://openalex.org/W154232367","https://openalex.org/W2011891945","https://openalex.org/W2052183736","https://openalex.org/W2058098593","https://openalex.org/W2082461219","https://openalex.org/W2088115584","https://openalex.org/W2111308925","https://openalex.org/W2122639093","https://openalex.org/W2159456898","https://openalex.org/W2161503964","https://openalex.org/W4230434741","https://openalex.org/W4285719527","https://openalex.org/W4403083114","https://openalex.org/W6601197110","https://openalex.org/W6872688618"],"related_works":["https://openalex.org/W2901299260","https://openalex.org/W4205240985","https://openalex.org/W2188726033","https://openalex.org/W1909979144","https://openalex.org/W2809961252","https://openalex.org/W3142762518","https://openalex.org/W2014725245","https://openalex.org/W2367117503","https://openalex.org/W2314597598","https://openalex.org/W2809735703"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,14,23,102,145,157,166,190,202],"technological":[4],"solution":[5],"for":[6,95],"the":[7,34,45,49,56,60,65,69,72,80,83,86,91,126,136,140,163,170,172,178,184,187,195,198],"remote":[8],"fruition":[9,35],"of":[10,19,36,59,68,82,90,108,148,165,169,189,194,204,212],"an":[11,117],"archaeological":[12,127],"site,":[13],"cave":[15,62,137],"hosting":[16,71,197],"pre-historical":[17,149],"heritage":[18],"relevant":[20,176],"importance,":[21],"using":[22],"properly":[24],"equipped":[25],"mobile":[26,109],"robot.":[27],"The":[28,88,129],"goal":[29],"is":[30,93],"twofold:":[31],"to":[32,52,78,125,134,138,152,183],"increase":[33,79],"these":[37,175],"precious":[38],"paintings":[39,185],"(both":[40],"off-line":[41],"and":[42,51,63,105,110,186],"on-line":[43],"with":[44,181],"robot":[46,92],"moving":[47],"in":[48,113,115],"cave)":[50],"collect":[53,153],"data":[54,155],"(about":[55],"two-dimensional":[57],"map":[58,168],"complex":[61],"about":[64],"three-dimensional":[66,154,192],"structure":[67],"wall":[70,150],"paints)":[73],"that":[74,161],"can":[75,121],"be":[76],"important":[77],"understanding":[81],"environment":[84,118],"by":[85],"experts.":[87],"choice":[89],"suitable":[94],"this":[96],"task":[97],"before":[98],"it":[99],"does":[100],"need":[101],"very":[103],"light":[104],"minimal":[106],"installation":[107],"reversible":[111],"infrastructures:":[112],"fact":[114],"such":[116],"any":[119],"intervention":[120],"cause":[122],"significant":[123],"damages":[124],"site.":[128],"current":[130],"modules":[131],"are":[132],"able":[133],"explore":[135],"determine":[139],"most":[141],"interesting":[142],"zones":[143],"(with":[144],"richer":[146],"content":[147],"paintings),":[151],"(using":[156],"laser":[158],"range":[159],"finder)":[160],"allow":[162],"reconstruction":[164,188],"planar":[167],"cave,":[171],"navigation":[173],"between":[174],"zones,":[177],"fine":[179],"positioning":[180],"respect":[182],"full":[191],"model":[193],"walls":[196],"paints":[199],"starting":[200],"from":[201,208],"set":[203],"three":[205],"images":[206],"acquired":[207],"slightly":[209],"different":[210],"points":[211],"view.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}