{"id":"https://openalex.org/W2100522187","doi":"https://doi.org/10.1109/robot.2008.4543323","title":"3D obstacle detection and avoidance in vegetated off-road terrain","display_name":"3D obstacle detection and avoidance in vegetated off-road terrain","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2100522187","doi":"https://doi.org/10.1109/robot.2008.4543323","mag":"2100522187"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5076500069","display_name":"H. Schafer","orcid":null},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"H. Schafer","raw_affiliation_strings":["Robotics Research Laboratory, University of Kaiserslautern, Kaiserslautern, Germany","Robot. Res. Lab., Univ. of Kaiserslautern, Kaiserslautern"],"affiliations":[{"raw_affiliation_string":"Robotics Research Laboratory, University of Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]},{"raw_affiliation_string":"Robot. Res. Lab., Univ. of Kaiserslautern, Kaiserslautern","institution_ids":["https://openalex.org/I153267046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032447475","display_name":"Alexander Hach","orcid":null},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Hach","raw_affiliation_strings":["Robotics Research Laboratory, University of Kaiserslautern, Kaiserslautern, Germany","Robot. Res. Lab., Univ. of Kaiserslautern, Kaiserslautern"],"affiliations":[{"raw_affiliation_string":"Robotics Research Laboratory, University of Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]},{"raw_affiliation_string":"Robot. Res. Lab., Univ. of Kaiserslautern, Kaiserslautern","institution_ids":["https://openalex.org/I153267046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056254198","display_name":"Martin Proetzsch","orcid":null},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Proetzsch","raw_affiliation_strings":["Robotics Research Laboratory, University of Kaiserslautern, Kaiserslautern, Germany","Robot. Res. Lab., Univ. of Kaiserslautern, Kaiserslautern"],"affiliations":[{"raw_affiliation_string":"Robotics Research Laboratory, University of Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]},{"raw_affiliation_string":"Robot. Res. Lab., Univ. of Kaiserslautern, Kaiserslautern","institution_ids":["https://openalex.org/I153267046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027711778","display_name":"Karsten Berns","orcid":"https://orcid.org/0000-0002-9080-1404"},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"K. Berns","raw_affiliation_strings":["Robotics Research Laboratory, University of Kaiserslautern, Kaiserslautern, Germany","Robot. Res. Lab., Univ. of Kaiserslautern, Kaiserslautern"],"affiliations":[{"raw_affiliation_string":"Robotics Research Laboratory, University of Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]},{"raw_affiliation_string":"Robot. Res. Lab., Univ. of Kaiserslautern, Kaiserslautern","institution_ids":["https://openalex.org/I153267046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076500069"],"corresponding_institution_ids":["https://openalex.org/I153267046"],"apc_list":null,"apc_paid":null,"fwci":6.3847,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.96812458,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"923","last_page":"928"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/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/T13382","display_name":"Robotics and Automated Systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/terrain","display_name":"Terrain","score":0.8617973923683167},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.700873851776123},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6427894830703735},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5970848798751831},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5831539630889893},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5825731158256531},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5809244513511658},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.5196022391319275},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5108839869499207},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4802132546901703},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.43043047189712524},{"id":"https://openalex.org/keywords/spatial-contextual-awareness","display_name":"Spatial contextual awareness","score":0.4223652780056},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24815073609352112},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.18354085087776184},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16901668906211853},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08919617533683777}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8617973923683167},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.700873851776123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6427894830703735},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5970848798751831},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5831539630889893},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5825731158256531},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5809244513511658},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.5196022391319275},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5108839869499207},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4802132546901703},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.43043047189712524},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.4223652780056},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24815073609352112},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.18354085087776184},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16901668906211853},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08919617533683777},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2008.4543323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.216.1083","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.216.1083","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://agrosy.informatik.uni-kl.de/fileadmin/Literatur/Schaefer08.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6299999952316284,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W181942421","https://openalex.org/W345301340","https://openalex.org/W1601409793","https://openalex.org/W1673310716","https://openalex.org/W2039995447","https://openalex.org/W2095605958","https://openalex.org/W2095968534","https://openalex.org/W2096833311","https://openalex.org/W2112444548","https://openalex.org/W2118152222","https://openalex.org/W2123222503","https://openalex.org/W2143220699","https://openalex.org/W2164356174","https://openalex.org/W4285719527","https://openalex.org/W6637131181","https://openalex.org/W6677877818"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510","https://openalex.org/W4366961261"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,28,49],"laser-based":[4],"obstacle":[5],"detection":[6],"facility":[7],"for":[8],"off-road":[9,22],"robotics":[10],"in":[11],"vegetated":[12],"terrain.":[13],"In":[14],"the":[15,20,53,56,62,70],"context":[16],"of":[17,52,59,65,72],"this":[18],"work":[19],"mobile":[21],"platform":[23],"RAVON":[24],"was":[25],"equipped":[26],"with":[27],"3D":[29],"laser":[30],"scanner":[31],"and":[32],"accompanying":[33],"evaluation":[34],"routines":[35],"working":[36],"on":[37,69],"individual":[38],"vertical":[39],"scans.":[40],"Identified":[41],"terrain":[42,67],"characteristics":[43],"are":[44],"used":[45],"to":[46],"build":[47],"up":[48],"local":[50],"representation":[51],"environment.":[54],"Introducing":[55],"abstraction":[57],"concept":[58],"virtual":[60],"sensors":[61],"transparent":[63],"integration":[64],"additional":[66],"information":[68],"basis":[71],"standardized":[73],"behavior":[74],"modules":[75],"can":[76],"be":[77],"achieved.":[78]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
