{"id":"https://openalex.org/W2100273172","doi":"https://doi.org/10.1109/robot.2008.4543324","title":"Monocular range sensing: A non-parametric learning approach","display_name":"Monocular range sensing: A non-parametric learning approach","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2100273172","doi":"https://doi.org/10.1109/robot.2008.4543324","mag":"2100273172"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543324","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/A5084071835","display_name":"Christian Plagemann","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Plagemann","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Dept. of Comput. Sci., Univ. of Freiburg, Freiburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Freiburg, Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111476571","display_name":"Felix Endres","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Endres","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Dept. of Comput. Sci., Univ. of Freiburg, Freiburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Freiburg, Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070715206","display_name":"J\u00fcrgen Hess","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jurgen Hess","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Dept. of Comput. Sci., Univ. of Freiburg, Freiburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Freiburg, Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Dept. of Comput. Sci., Univ. of Freiburg, Freiburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Freiburg, Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Dept. of Comput. Sci., Univ. of Freiburg, Freiburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Freiburg, Freiburg","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":125.0668,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.9984897,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"35","issue":null,"first_page":"929","last_page":"934"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9986000061035156,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/computer-science","display_name":"Computer science","score":0.70777428150177},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6905109882354736},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.67417973279953},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6166229248046875},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.594821572303772},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5701621174812317},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5496751070022583},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.5130726099014282},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5000920295715332},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4882343113422394},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.4725708067417145},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44588202238082886},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.43932658433914185},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.41879579424858093},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.4139111042022705},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12910190224647522},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11217769980430603},{"id":"https://openalex.org/keywords/antenna","display_name":"Antenna (radio)","score":0.09938710927963257}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.70777428150177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6905109882354736},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.67417973279953},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6166229248046875},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.594821572303772},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5701621174812317},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5496751070022583},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.5130726099014282},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5000920295715332},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4882343113422394},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.4725708067417145},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44588202238082886},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.43932658433914185},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.41879579424858093},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.4139111042022705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12910190224647522},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11217769980430603},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.09938710927963257},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2008.4543324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543324","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:10.1.1.111.1984","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.111.1984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~stachnis/pdf/plagemann08icra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W97351935","https://openalex.org/W1488180145","https://openalex.org/W1505712405","https://openalex.org/W1525064124","https://openalex.org/W1604693428","https://openalex.org/W1632914319","https://openalex.org/W1746819321","https://openalex.org/W1950633961","https://openalex.org/W2010363308","https://openalex.org/W2039385836","https://openalex.org/W2055274886","https://openalex.org/W2111482306","https://openalex.org/W2123726238","https://openalex.org/W2125310925","https://openalex.org/W2128597272","https://openalex.org/W2132400125","https://openalex.org/W2139905387","https://openalex.org/W2145023731","https://openalex.org/W2151103935","https://openalex.org/W2152671441","https://openalex.org/W2154418813","https://openalex.org/W2158355041","https://openalex.org/W2171028727","https://openalex.org/W3022107565","https://openalex.org/W4211049957","https://openalex.org/W6630174781","https://openalex.org/W6631469809","https://openalex.org/W6636127909"],"related_works":["https://openalex.org/W4379536980","https://openalex.org/W2898919627","https://openalex.org/W2666300258","https://openalex.org/W3213997683","https://openalex.org/W1989062809","https://openalex.org/W2118689766","https://openalex.org/W2625795345","https://openalex.org/W2215517927","https://openalex.org/W2995270189","https://openalex.org/W2137384304"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"rely":[2],"on":[3],"the":[4,8,22,67,83,98,111,131],"ability":[5],"to":[6,16,20,47,65,104,127,158,166],"sense":[7],"geometry":[9],"of":[10,168],"their":[11],"local":[12],"environment":[13],"in":[14,116,121,138],"order":[15],"avoid":[17],"obstacles":[18],"or":[19,35,174],"explore":[21],"surroundings.":[23],"For":[24],"this":[25,58],"task,":[26],"dedicated":[27,169],"proximity":[28,55,160],"sensors":[29,170],"such":[30,48,171],"as":[31,172],"laser":[32],"range":[33,70,101,176],"finders":[34],"sonars":[36,173],"are":[37,41],"typically":[38],"employed.":[39],"Cameras":[40],"a":[42,62,77,90,105,142],"cheap":[43],"and":[44,72],"lightweight":[45],"alternative":[46],"sensors,":[49],"but":[50,109],"do":[51],"not":[52,95],"directly":[53],"offer":[54],"information.":[56],"In":[57,133],"paper,":[59],"we":[60,86,151],"present":[61],"novel":[63],"approach":[64],"learning":[66,84,92],"relationship":[68],"between":[69],"measurements":[71],"visual":[73,107],"features":[74],"extracted":[75],"from":[76],"single":[78],"monocular":[79],"camera":[80,149],"image.":[81],"As":[82],"engine,":[85],"apply":[87],"Gaussian":[88],"processes,":[89],"non-parametric":[91],"technique":[93],"that":[94,153,167],"only":[96],"yields":[97],"most":[99],"likely":[100],"prediction":[102],"corresponding":[103],"certain":[106],"input":[108],"also":[110],"predictive":[112],"uncertainty.":[113],"This":[114],"information,":[115],"turn,":[117],"can":[118],"be":[119],"utilized":[120],"an":[122,147,163],"extended":[123],"grid-based":[124],"mapping":[125],"scheme":[126],"more":[128],"accurately":[129],"update":[130],"map.":[132],"practical":[134],"experiments":[135],"carried":[136],"out":[137],"different":[139],"environments":[140],"with":[141,146,162],"mobile":[143],"robot":[144],"equipped":[145],"omnidirectional":[148],"system,":[150],"demonstrate":[152],"our":[154],"system":[155],"is":[156],"able":[157],"produce":[159],"estimates":[161],"accuracy":[164],"comparable":[165],"infrared":[175],"finders.":[177]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
