{"id":"https://openalex.org/W4245080379","doi":"https://doi.org/10.1109/tepra.2013.6556368","title":"Towards functional labeling of utility vehicle point clouds for humanoid driving","display_name":"Towards functional labeling of utility vehicle point clouds for humanoid driving","publication_year":2013,"publication_date":"2013-04-01","ids":{"openalex":"https://openalex.org/W4245080379","doi":"https://doi.org/10.1109/tepra.2013.6556368"},"language":"en","primary_location":{"id":"doi:10.1109/tepra.2013.6556368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2013.6556368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","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/A5065177747","display_name":"Christopher Rasmussen","orcid":"https://orcid.org/0000-0003-0044-8692"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Rasmussen","raw_affiliation_strings":["Department Computer & Infonnation Sciences, University of Delaware, Newark, DE, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Computer & Infonnation Sciences, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058894713","display_name":"Karthikeyan Yuvraj","orcid":null},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karthikeyan Yuvraj","raw_affiliation_strings":["Department Mechanical Engineering, Drexel University, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Mechanical Engineering, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062947525","display_name":"Richard Vallett","orcid":"https://orcid.org/0000-0002-7876-4137"},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard Vallett","raw_affiliation_strings":["Department Mechanical Engineering, Drexel University, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Mechanical Engineering, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103026279","display_name":"Kiwon Sohn","orcid":"https://orcid.org/0000-0002-0924-4242"},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kiwon Sohn","raw_affiliation_strings":["Department Mechanical Engineering, Drexel University, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Mechanical Engineering, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110190609","display_name":"Paul Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Oh","raw_affiliation_strings":["Department Mechanical Engineering, Drexel University, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Mechanical Engineering, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":69.9717,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.9967852,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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":0.9980999827384949,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9979000091552734,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9929999709129333,"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/point-cloud","display_name":"Point cloud","score":0.8187087774276733},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6984009742736816},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6829802393913269},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6284083127975464},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6210560202598572},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.555361270904541},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48486170172691345},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.46665024757385254},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4221786856651306},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32277795672416687},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27252209186553955},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17847281694412231},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11762863397598267},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08464795351028442},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0753820538520813}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8187087774276733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6984009742736816},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6829802393913269},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6284083127975464},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6210560202598572},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.555361270904541},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48486170172691345},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.46665024757385254},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4221786856651306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32277795672416687},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27252209186553955},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17847281694412231},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11762863397598267},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08464795351028442},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0753820538520813},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tepra.2013.6556368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2013.6556368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1520661278","https://openalex.org/W1523347491","https://openalex.org/W2023574675","https://openalex.org/W2075274454","https://openalex.org/W2099940712","https://openalex.org/W2101077466","https://openalex.org/W2103495448","https://openalex.org/W2117547109","https://openalex.org/W2118220092","https://openalex.org/W2123894592","https://openalex.org/W2124154128","https://openalex.org/W2147887821","https://openalex.org/W2152864241","https://openalex.org/W2154844948","https://openalex.org/W2155139464","https://openalex.org/W2406067508","https://openalex.org/W2901136733","https://openalex.org/W4255333169","https://openalex.org/W6631036470","https://openalex.org/W6631486365","https://openalex.org/W6675310320","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W1589423663","https://openalex.org/W2143454724"],"abstract_inverted_index":{"We":[0],"present":[1,122],"preliminary":[2],"work":[3,24],"on":[4],"analyzing":[5],"3-D":[6],"point":[7,49,92],"clouds":[8,50,93],"of":[9,16,22,30,164],"a":[10,28,59,63,71,81],"small":[11],"utility":[12],"vehicle":[13,38,116],"for":[14,168],"purposes":[15],"humanoid":[17],"robot":[18],"driving.":[19],"The":[20],"scope":[21],"this":[23],"is":[25,86,98,171],"limited":[26],"to":[27,88,113,118,124,130],"subset":[29],"ingress-related":[31],"tasks":[32],"including":[33,58],"stepping":[34],"up":[35],"into":[36],"the":[37,41,90,95,101,114,134,141,144,148,158,162,165],"and":[39,62,70,121,137,143,146,152,161],"grasping":[40],"steering":[42,149],"wheel.":[43],"First,":[44],"we":[45,104],"describe":[46],"how":[47,106],"partial":[48],"are":[51,155],"acquired":[52],"from":[53],"different":[54,159],"perspectives":[55],"using":[56,157],"sensors":[57],"stereo":[60,91],"camera":[61],"tilting":[64],"laser":[65],"range-finder.":[66],"For":[67],"finer":[68],"detail":[69],"larger":[72],"model":[73,117],"than":[74],"one":[75],"sensor":[76,96,108],"view":[77],"alone":[78],"can":[79,110],"capture,":[80],"Kinect":[82],"Fusion":[83],"[1]-like":[84],"algorithm":[85],"used":[87],"integrate":[89],"as":[94],"head":[97],"moved":[99],"around":[100],"vehicle.":[102],"Second,":[103],"discuss":[105],"individual":[107],"views":[109],"be":[111],"registered":[112],"overall":[115],"provide":[119],"context,":[120],"methods":[123],"estimate":[125],"several":[126],"geometric":[127],"parameters":[128],"critical":[129],"motion":[131,169],"planning:":[132],"(1)":[133],"floor":[135],"height":[136],"boundaries":[138],"defined":[139],"by":[140],"seat":[142],"dashboard,":[145],"(2)":[147],"wheel":[150],"pose":[151],"dimensions.":[153],"Results":[154],"compared":[156],"sensors,":[160],"usefulness":[163],"estimated":[166],"quantities":[167],"planning":[170],"also":[172],"demonstrated.":[173]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}