{"id":"https://openalex.org/W2773938984","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215284","title":"Obstacle avoidance using stereo-based generic obstacle tracking","display_name":"Obstacle avoidance using stereo-based generic obstacle tracking","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2773938984","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215284","mag":"2773938984"},"language":"en","primary_location":{"id":"doi:10.1109/sbr-lars-r.2017.8215284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215284","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","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/A5063399018","display_name":"Daniela A. Ridel","orcid":null},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Daniela Ridel","raw_affiliation_strings":["Avenida Trabalhador Sao-carlensc, University of S\u00e3o Paulo, S\u00e3o Carlos, Brazil"],"affiliations":[{"raw_affiliation_string":"Avenida Trabalhador Sao-carlensc, University of S\u00e3o Paulo, S\u00e3o Carlos, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059235297","display_name":"Patrick Y. Shinzato","orcid":null},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Patrick Shinzato","raw_affiliation_strings":["Avenida Trabalhador Sao-carlensc, University of S\u00e3o Paulo, S\u00e3o Carlos, Brazil"],"affiliations":[{"raw_affiliation_string":"Avenida Trabalhador Sao-carlensc, University of S\u00e3o Paulo, S\u00e3o Carlos, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010352992","display_name":"Ana Rita Pereira","orcid":"https://orcid.org/0000-0001-6340-3980"},"institutions":[{"id":"https://openalex.org/I177909021","display_name":"Universidade Federal de S\u00e3o Carlos","ror":"https://ror.org/00qdc6m37","country_code":"BR","type":"education","lineage":["https://openalex.org/I177909021"]},{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Ana Rita Pereira","raw_affiliation_strings":["Sao Carlos School of Engineering, University of S\u00e3o Paulo, S\u00e3o Carlos, Brazil"],"affiliations":[{"raw_affiliation_string":"Sao Carlos School of Engineering, University of S\u00e3o Paulo, S\u00e3o Carlos, Brazil","institution_ids":["https://openalex.org/I177909021","https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009669213","display_name":"Valdir Grassi","orcid":"https://orcid.org/0000-0001-6753-139X"},"institutions":[{"id":"https://openalex.org/I177909021","display_name":"Universidade Federal de S\u00e3o Carlos","ror":"https://ror.org/00qdc6m37","country_code":"BR","type":"education","lineage":["https://openalex.org/I177909021"]},{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Valdir Grassi","raw_affiliation_strings":["Sao Carlos School of Engineering, University of S\u00e3o Paulo, S\u00e3o Carlos, Brazil"],"affiliations":[{"raw_affiliation_string":"Sao Carlos School of Engineering, University of S\u00e3o Paulo, S\u00e3o Carlos, Brazil","institution_ids":["https://openalex.org/I177909021","https://openalex.org/I17974374"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047424364","display_name":"Denis F. Wolf","orcid":"https://orcid.org/0000-0003-1485-5686"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Denis Wolf","raw_affiliation_strings":["Avenida Trabalhador Sao-carlensc, University of S\u00e3o Paulo, S\u00e3o Carlos, Brazil"],"affiliations":[{"raw_affiliation_string":"Avenida Trabalhador Sao-carlensc, University of S\u00e3o Paulo, S\u00e3o Carlos, Brazil","institution_ids":["https://openalex.org/I17974374"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5063399018"],"corresponding_institution_ids":["https://openalex.org/I17974374"],"apc_list":null,"apc_paid":null,"fwci":0.182,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.58757281,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"5748","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998999834060669,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998999834060669,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9994999766349792,"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/obstacle","display_name":"Obstacle","score":0.9128875732421875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8358266949653625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7663313746452332},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7611482739448547},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6477971076965332},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.6110368371009827},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.603303849697113},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.583159327507019},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.567385196685791},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.5545248985290527},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5387914776802063},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.49349868297576904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31693947315216064},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31240177154541016},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.131061851978302},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08714562654495239}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.9128875732421875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8358266949653625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7663313746452332},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7611482739448547},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6477971076965332},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.6110368371009827},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.603303849697113},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.583159327507019},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.567385196685791},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.5545248985290527},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5387914776802063},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.49349868297576904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31693947315216064},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31240177154541016},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.131061851978302},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08714562654495239},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sbr-lars-r.2017.8215284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215284","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1531192956","https://openalex.org/W1673310716","https://openalex.org/W1976037690","https://openalex.org/W2042847696","https://openalex.org/W2043853176","https://openalex.org/W2045437917","https://openalex.org/W2048093873","https://openalex.org/W2061352600","https://openalex.org/W2089652819","https://openalex.org/W2097545165","https://openalex.org/W2107516554","https://openalex.org/W2111644456","https://openalex.org/W2111704062","https://openalex.org/W2123050817","https://openalex.org/W2123277060","https://openalex.org/W2124211486","https://openalex.org/W2124781496","https://openalex.org/W2141461755","https://openalex.org/W2150066425","https://openalex.org/W2161337244","https://openalex.org/W2165737454","https://openalex.org/W2168676389","https://openalex.org/W2289786487","https://openalex.org/W6637131181"],"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/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Obstacle":[0],"detection":[1],"and":[2,15,30,53,56,87,101],"tracking":[3],"is":[4,67,83,91],"a":[5,71,94,111],"fundamental":[6],"task":[7],"for":[8],"several":[9],"Advanced":[10],"Driver":[11],"Assistance":[12],"Systems":[13],"(ADAS)":[14],"self-driving":[16],"cars.":[17],"Several":[18],"approaches":[19],"have":[20],"been":[21],"presented":[22],"in":[23,26],"the":[24,27,62],"literature":[25],"last":[28],"years":[29],"many":[31],"of":[32],"them":[33],"are":[34],"based":[35],"on":[36],"visual":[37,58],"sensors.":[38],"In":[39],"this":[40],"paper":[41],"we":[42],"propose":[43],"an":[44,84],"approach":[45],"that":[46],"uses":[47],"only":[48],"stereo":[49],"cameras":[50],"to":[51,60,69,74,99],"detect":[52,100],"track":[54,102],"obstacles":[55],"compute":[57,70],"odometry":[59],"get":[61],"vehicle's":[63],"ego-velocity.":[64],"This":[65,82],"information":[66],"used":[68],"safe":[72],"velocity":[73],"travel":[75],"avoiding":[76],"collisions":[77],"with":[78],"any":[79],"detected":[80],"objects.":[81],"ongoing":[85],"work":[86],"its":[88],"main":[89],"contribution":[90],"not":[92,109],"requiring":[93],"full":[95],"dense":[96],"disparity":[97],"map":[98],"obstacles,":[103],"improving":[104],"efficiency.":[105],"It":[106],"also":[107],"does":[108],"require":[110],"previous":[112],"training":[113],"step.":[114]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}