{"id":"https://openalex.org/W4394995456","doi":"https://doi.org/10.1109/ssrr59696.2023.10499944","title":"Accurate Pose Prediction on Signed Distance Fields for Mobile Ground Robots in Rough Terrain","display_name":"Accurate Pose Prediction on Signed Distance Fields for Mobile Ground Robots in Rough Terrain","publication_year":2023,"publication_date":"2023-11-13","ids":{"openalex":"https://openalex.org/W4394995456","doi":"https://doi.org/10.1109/ssrr59696.2023.10499944"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr59696.2023.10499944","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ssrr59696.2023.10499944","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2405.02121","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101417808","display_name":"Martin Oehler","orcid":"https://orcid.org/0000-0002-3148-7806"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Oehler","raw_affiliation_strings":["ASimulation, Systems Optimization and Robotics Group, Technical, University of Darmstadt,Germany","ASimulation, Systems Optimization and Robotics Group, Technical, University of Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ASimulation, Systems Optimization and Robotics Group, Technical, University of Darmstadt,Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"ASimulation, Systems Optimization and Robotics Group, Technical, University of Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014799780","display_name":"Oskar von Stryk","orcid":"https://orcid.org/0000-0002-2790-6115"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oskar von Stryk","raw_affiliation_strings":["ASimulation, Systems Optimization and Robotics Group, Technical, University of Darmstadt,Germany","ASimulation, Systems Optimization and Robotics Group, Technical, University of Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ASimulation, Systems Optimization and Robotics Group, Technical, University of Darmstadt,Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"ASimulation, Systems Optimization and Robotics Group, Technical, University of Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"47","last_page":"52"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.7557994723320007},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7303794622421265},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7211684584617615},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7022830247879028},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6763938665390015},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.6641466617584229},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6570801734924316},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6556499600410461},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5315000414848328},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46155568957328796},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45425039529800415},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41613543033599854},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3285022974014282},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.1969873011112213},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10967540740966797}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.7557994723320007},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7303794622421265},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7211684584617615},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7022830247879028},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6763938665390015},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.6641466617584229},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6570801734924316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6556499600410461},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5315000414848328},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46155568957328796},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45425039529800415},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41613543033599854},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3285022974014282},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.1969873011112213},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10967540740966797},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ssrr59696.2023.10499944","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ssrr59696.2023.10499944","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2405.02121","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.02121","pdf_url":"https://arxiv.org/pdf/2405.02121","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:144801","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/144801/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzver\u00f6ffentlichung"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2405.02121","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.02121","pdf_url":"https://arxiv.org/pdf/2405.02121","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3116973932","display_name":null,"funder_award_id":"13N16274","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"},{"id":"https://openalex.org/G7360689360","display_name":null,"funder_award_id":"13N16475","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"}],"funders":[{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394995456.pdf","grobid_xml":"https://content.openalex.org/works/W4394995456.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1967241124","https://openalex.org/W1974868116","https://openalex.org/W1999050017","https://openalex.org/W1999852035","https://openalex.org/W2094589054","https://openalex.org/W2198158248","https://openalex.org/W2584507392","https://openalex.org/W2607968634","https://openalex.org/W2809054577","https://openalex.org/W2922446060","https://openalex.org/W2960249673","https://openalex.org/W3102129812","https://openalex.org/W3123520368","https://openalex.org/W3160439341","https://openalex.org/W3185523273","https://openalex.org/W3214129011","https://openalex.org/W3214787523","https://openalex.org/W3215732315","https://openalex.org/W4253729359","https://openalex.org/W4319165867","https://openalex.org/W6760940340","https://openalex.org/W6804077192"],"related_works":["https://openalex.org/W2688471429","https://openalex.org/W4360939124","https://openalex.org/W2077345734","https://openalex.org/W2899287767","https://openalex.org/W2275928629","https://openalex.org/W4387126713","https://openalex.org/W2612848489","https://openalex.org/W2915444871","https://openalex.org/W4285089922","https://openalex.org/W2863424594"],"abstract_inverted_index":{"Autonomous":[0],"locomotion":[1],"for":[2],"mobile":[3,65],"ground":[4,66,73,124],"robots":[5,40,67,110],"in":[6,111],"unstructured":[7],"environments":[8],"such":[9],"as":[10,44,123,153],"waypoint":[11],"navigation":[12],"or":[13,29],"flipper":[14],"control":[15],"requires":[16],"a":[17,54,115,120,144],"sufficiently":[18],"accurate":[19],"prediction":[20],"of":[21,64,88,100,138],"the":[22,61,86,101,129],"robot-terrain":[23],"interaction.":[24],"Heuristics":[25],"like":[26],"occupancy":[27],"grids":[28],"traversability":[30],"maps":[31],"are":[32,47],"widely":[33],"used":[34],"but":[35],"limit":[36],"actions":[37],"available":[38,152],"to":[39,59,92,119],"with":[41,68,74,95,134],"active":[42,69],"flippers":[43,70],"joint":[45],"positions":[46],"not":[48],"taken":[49],"into":[50],"account.":[51],"We":[52],"present":[53],"novel":[55],"iterative":[56],"geometric":[57],"method":[58,127],"predict":[60],"3D":[62],"pose":[63],"on":[71,106,114],"uneven":[72],"high":[75],"accuracy":[76,137],"and":[77,113,132,141],"online":[78],"planning":[79],"capabilities.":[80],"This":[81],"is":[82,104,150],"achieved":[83],"by":[84],"utilizing":[85],"ability":[87],"signed":[89],"distance":[90],"fields":[91],"represent":[93],"surfaces":[94],"sub-voxel":[96],"accuracy.":[97],"The":[98,148],"effectiveness":[99],"presented":[102],"approach":[103],"demonstrated":[105],"two":[107],"different":[108],"tracked":[109],"simulation":[112],"real":[116],"platform.":[117],"Compared":[118],"tracking":[121],"system":[122],"truth,":[125],"our":[126],"predicts":[128],"robot":[130],"position":[131],"orientation":[133],"an":[135,154],"average":[136],"3.11":[139],"cm":[140],"3.91\u00b0,":[142],"outperforming":[143],"recent":[145],"heightmap-based":[146],"approach.":[147],"implementation":[149],"made":[151],"open-source":[155],"ROS":[156],"package.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2024-04-23T00:00:00"}