{"id":"https://openalex.org/W2172068760","doi":"https://doi.org/10.1109/robot.2006.1641867","title":"Feature extraction from laser scan data based on curvature estimation for mobile robotics","display_name":"Feature extraction from laser scan data based on curvature estimation for mobile robotics","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2172068760","doi":"https://doi.org/10.1109/robot.2006.1641867","mag":"2172068760"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641867","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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":null,"display_name":"P. Nunez","orcid":null},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"P. Nunez","raw_affiliation_strings":["Grupo de Ingenieria y Sistemas Integrados. Departmento Tecnologia Electronica, Universidad de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grupo de Ingenieria y Sistemas Integrados. Departmento Tecnologia Electronica, Universidad de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029873782","display_name":"Ricardo V\u00e1zquez-Mart\u00edn","orcid":"https://orcid.org/0000-0003-1742-6852"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"R. Vazquez-Martin","raw_affiliation_strings":["Grupo de Ingenieria y Sistemas Integrados. Departmento Tecnologia Electronica, Universidad de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grupo de Ingenieria y Sistemas Integrados. Departmento Tecnologia Electronica, Universidad de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046942664","display_name":"J.C. del Toro","orcid":null},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.C. del Toro","raw_affiliation_strings":["Grupo de Ingenieria y Sistemas Integrados. Departmento Tecnologia Electronica, Universidad de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grupo de Ingenieria y Sistemas Integrados. Departmento Tecnologia Electronica, Universidad de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003517792","display_name":"Antonio Bandera","orcid":"https://orcid.org/0000-0003-3147-0307"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Bandera","raw_affiliation_strings":["Grupo de Ingenieria y Sistemas Integrados. Departmento Tecnologia Electronica, Universidad de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grupo de Ingenieria y Sistemas Integrados. Departmento Tecnologia Electronica, Universidad de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061295436","display_name":"F. Sandoval","orcid":"https://orcid.org/0000-0001-9235-7856"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"F. Sandoval","raw_affiliation_strings":["Grupo de Ingenieria y Sistemas Integrados. Departmento Tecnologia Electronica, Universidad de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grupo de Ingenieria y Sistemas Integrados. Departmento Tecnologia Electronica, Universidad de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":null,"apc_paid":null,"fwci":12.2842,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.98738646,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"38","issue":null,"first_page":"1167","last_page":"1172"},"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9987999796867371,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9976999759674072,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7788624167442322},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.7460340261459351},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.6547985672950745},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6386228799819946},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6317757964134216},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5938388705253601},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.5154050588607788},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4958551824092865},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46894240379333496},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4324083626270294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3374783396720886},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15921521186828613},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.08144804835319519},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06804805994033813}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7788624167442322},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.7460340261459351},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.6547985672950745},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6386228799819946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6317757964134216},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5938388705253601},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.5154050588607788},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4958551824092865},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46894240379333496},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4324083626270294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3374783396720886},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15921521186828613},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.08144804835319519},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06804805994033813},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1641867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641867","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1545851874","https://openalex.org/W1981787154","https://openalex.org/W2003258311","https://openalex.org/W2020187819","https://openalex.org/W2052277674","https://openalex.org/W2067419507","https://openalex.org/W2108142758","https://openalex.org/W2109513571","https://openalex.org/W2110023963","https://openalex.org/W2111438519","https://openalex.org/W2121453698","https://openalex.org/W2124614039","https://openalex.org/W2145582302","https://openalex.org/W2158057652","https://openalex.org/W2159477781","https://openalex.org/W2161808137","https://openalex.org/W2163775665"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W55883722","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W2394379345","https://openalex.org/W2079726820","https://openalex.org/W3215763795","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0,15,51],"paper":[1],"presents":[2],"a":[3,39],"geometrical":[4],"feature":[5,31,45],"detection":[6,29],"system":[7,16,37],"to":[8,54,80],"use":[9],"with":[10],"conventional":[11],"2D":[12],"laser":[13,66],"rangefinders.":[14],"consists":[17],"of":[18,35],"three":[19],"main":[20],"modules:":[21],"data":[22],"acquisition":[23],"and":[24,27,30,56,61,78,86],"pre-processing,":[25],"rupture":[26],"breakpoint":[28],"extraction.":[32],"The":[33],"novelty":[34],"this":[36],"is":[38,75],"new":[40],"efficient":[41],"approach":[42,52,74],"for":[43],"natural":[44],"extraction":[46],"based":[47],"on":[48],"curvature":[49],"estimation.":[50],"permits":[53],"extract":[55],"characterise":[57],"line":[58],"segments,":[59],"corners":[60],"curve":[62],"segments":[63],"from":[64],"the":[65,72],"scan.":[67],"Experimental":[68],"results":[69],"show":[70],"that":[71],"proposed":[73],"very":[76],"fast":[77],"permit":[79],"verify":[81],"its":[82],"effectiveness":[83],"in":[84],"indoor":[85],"outdoor":[87],"environments":[88]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
