{"id":"https://openalex.org/W2586096220","doi":"https://doi.org/10.1109/smc.2016.7844577","title":"On localization and mapping with RGB-D sensor and hexapod walking robot in rough terrains","display_name":"On localization and mapping with RGB-D sensor and hexapod walking robot in rough terrains","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2586096220","doi":"https://doi.org/10.1109/smc.2016.7844577","mag":"2586096220"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2016.7844577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2016.7844577","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5038542788","display_name":"Petr \u010c\u00ed\u017eek","orcid":"https://orcid.org/0000-0001-6722-3928"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Petr Cizek","raw_affiliation_strings":["Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073496345","display_name":"Jan Faigl","orcid":"https://orcid.org/0000-0002-6193-0792"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Jan Faigl","raw_affiliation_strings":["Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":60.7493,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.99609331,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"002273","last_page":"002278"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9948999881744385,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/hexapod","display_name":"Hexapod","score":0.9812336564064026},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7549188733100891},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6404149532318115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5670419931411743},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5554222464561462},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4886053204536438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48726287484169006},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47561150789260864},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10049435496330261},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08987939357757568}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9812336564064026},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7549188733100891},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6404149532318115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5670419931411743},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5554222464561462},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4886053204536438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48726287484169006},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47561150789260864},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10049435496330261},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08987939357757568}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc.2016.7844577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2016.7844577","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1500858858","https://openalex.org/W1532362218","https://openalex.org/W1587849794","https://openalex.org/W1987206750","https://openalex.org/W2021851106","https://openalex.org/W2073660060","https://openalex.org/W2085261163","https://openalex.org/W2117228865","https://openalex.org/W2119605622","https://openalex.org/W2133844819","https://openalex.org/W2153054365","https://openalex.org/W2167896722","https://openalex.org/W2297711053","https://openalex.org/W2336416123","https://openalex.org/W2342230988","https://openalex.org/W2419457336","https://openalex.org/W2901136733","https://openalex.org/W6629564929","https://openalex.org/W6631707545","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2166802441","https://openalex.org/W2514466123","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0],"this":[1,41],"paper,":[2],"we":[3],"address":[4],"a":[5,12,30,74,81],"problem":[6],"of":[7,11,60,83,93,100,121],"precise":[8],"online":[9],"localization":[10,44,107,126],"hexapod":[13],"walking":[14],"robot":[15,55,85],"operating":[16],"in":[17],"rough":[18],"terrains.":[19],"We":[20,37],"consider":[21],"an":[22,71],"existing":[23],"Simultaneous":[24],"Localization":[25],"and":[26,43,87,98,124],"Mapping":[27],"approach":[28],"with":[29,46],"low":[31],"cost":[32],"structured":[33],"light":[34],"(RGB-D)":[35],"sensor.":[36],"propose":[38],"to":[39,56,79,90],"combine":[40],"sensor":[42],"method":[45,103,123],"the":[47,54,84,94,101,106,114,117,122,125],"developed":[48],"adaptive":[49],"motion":[50],"gait":[51],"that":[52],"allows":[53,88],"crawl":[57],"various":[58],"types":[59,97],"terrain,":[61],"such":[62],"as":[63],"stairs,":[64],"ramps,":[65],"or":[66],"small":[67],"wooden":[68],"blocks.":[69],"Such":[70],"environment":[72],"requires":[73],"full":[75],"6-DOF":[76],"pose":[77],"estimation":[78],"create":[80],"map":[82],"surroundings":[86],"us":[89],"asses":[91],"impact":[92],"individual":[95],"terrain":[96,118],"influence":[99],"SLAM":[102],"parametrization":[104,120],"on":[105],"accuracy.":[108,127],"The":[109],"reported":[110],"evaluation":[111],"results":[112],"indicate":[113],"relations":[115],"between":[116],"type,":[119]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"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":4},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
