{"id":"https://openalex.org/W2003676670","doi":"https://doi.org/10.1109/tpami.1985.4767730","title":"Describing a Robot's Workspace Using a Sequence of Views from a Moving Camera","display_name":"Describing a Robot's Workspace Using a Sequence of Views from a Moving Camera","publication_year":1985,"publication_date":"1985-11-01","ids":{"openalex":"https://openalex.org/W2003676670","doi":"https://doi.org/10.1109/tpami.1985.4767730","mag":"2003676670","pmid":"https://pubmed.ncbi.nlm.nih.gov/21869312"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.1985.4767730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.1985.4767730","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5043598453","display_name":"Tsai-Hong Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tsai-Hong Hong","raw_affiliation_strings":["Robot Systems Division, National Bureau of Standards, Gaithersburg, MD 20899"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Systems Division, National Bureau of Standards, Gaithersburg, MD 20899","institution_ids":["https://openalex.org/I1321296531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054042056","display_name":"Michael Shneier","orcid":"https://orcid.org/0000-0003-2667-0750"},"institutions":[{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael O. Shneier","raw_affiliation_strings":["Robot Systems Division, National Bureau of Standards, Gaithersburg, MD, USA","Robot Systems Division, National Bureau of Standards, Gaithersburg, MD 20899"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Systems Division, National Bureau of Standards, Gaithersburg, MD, USA","institution_ids":["https://openalex.org/I1321296531"]},{"raw_affiliation_string":"Robot Systems Division, National Bureau of Standards, Gaithersburg, MD 20899","institution_ids":["https://openalex.org/I1321296531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1321296531"],"apc_list":null,"apc_paid":null,"fwci":4.2823,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.92836676,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"PAMI-7","issue":"6","first_page":"721","last_page":"726"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9921000003814697,"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":0.9886999726295471,"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/workspace","display_name":"Workspace","score":0.8625059723854065},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8069815635681152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7362672686576843},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6661034226417542},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6480324864387512},{"id":"https://openalex.org/keywords/search-engine-indexing","display_name":"Search engine indexing","score":0.551862895488739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.537392258644104},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5134497880935669},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5074226260185242},{"id":"https://openalex.org/keywords/octree","display_name":"Octree","score":0.5072714686393738},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43615901470184326}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8625059723854065},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8069815635681152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7362672686576843},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6661034226417542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6480324864387512},{"id":"https://openalex.org/C75165309","wikidata":"https://www.wikidata.org/wiki/Q2258979","display_name":"Search engine indexing","level":2,"score":0.551862895488739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.537392258644104},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5134497880935669},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5074226260185242},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.5072714686393738},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43615901470184326},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tpami.1985.4767730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.1985.4767730","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:21869312","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/21869312","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on pattern analysis and machine intelligence","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W327047251","https://openalex.org/W1966634937","https://openalex.org/W1991899412","https://openalex.org/W2037560731","https://openalex.org/W2084381542","https://openalex.org/W2107098424","https://openalex.org/W2110432750","https://openalex.org/W4210602482"],"related_works":["https://openalex.org/W2975200075","https://openalex.org/W3192344083","https://openalex.org/W2016398835","https://openalex.org/W2007544051","https://openalex.org/W2967352563","https://openalex.org/W1837097281","https://openalex.org/W1966410754","https://openalex.org/W1910101490","https://openalex.org/W2903870463","https://openalex.org/W4366330678"],"abstract_inverted_index":{"This":[0,189],"correspondence":[1],"describes":[2],"a":[3,9,16,19,44,139,200,224,237],"method":[4],"of":[5,15,41,46,55,71,79,90,154,162,202,223,228,236],"building":[6],"and":[7,38,77,120,150,184,197],"maintaining":[8],"spatial":[10,103,218],"respresentation":[11],"for":[12,132],"the":[13,25,28,42,52,56,59,69,72,75,80,88,91,102,106,110,114,129,133,155,176,179,210,229,233],"workspace":[14,156,180,230],"robot,":[17],"using":[18],"sensor":[20],"that":[21,181,186],"moves":[22],"about":[23],"in":[24,58,113,118,178,240],"world.":[26],"From":[27],"known":[29],"camera":[30],"position":[31,76,119],"at":[32,109,212],"which":[33],"an":[34,62,213],"image":[35],"is":[36,48,64,126,166,220],"obtained,":[37],"two-dimensional":[39],"silhouettes":[40],"image,":[43],"series":[45],"cones":[47,73],"projected":[49],"to":[50,94,148,157,170,174,193,208],"describe":[51,175],"possible":[53],"positions":[54],"objects":[57,172,205,211],"space.":[60],"When":[61],"object":[63,92],"seen":[65],"from":[66],"several":[67,83],"viewpoints,":[68],"intersections":[70],"constrain":[74],"size":[78],"object.":[81],"After":[82],"views":[84],"have":[85],"been":[86],"processed,":[87],"representation":[89,104,165,219,227],"begins":[93],"resemble":[95],"its":[96,242],"true":[97,111],"shape.":[98],"At":[99],"all":[100],"times,":[101],"contains":[105],"best":[107],"guess":[108],"situation":[112],"world":[115],"with":[116],"uncertainties":[117],"shape":[121],"explicitly":[122],"represented.":[123],"An":[124],"octree":[125],"used":[127,231],"as":[128,173],"data":[130],"structure":[131],"representation.":[134],"It":[135],"not":[136,167],"only":[137],"provides":[138,199],"relatively":[140],"compact":[141],"representation,":[142],"but":[143],"also":[144,198],"allows":[145],"fast":[146],"access":[147],"information":[149],"enables":[151,190],"large":[152],"parts":[153],"be":[158,194],"ignored.":[159],"The":[160,217],"purpose":[161],"constructing":[163],"this":[164],"so":[168],"much":[169],"recognize":[171],"volumes":[177],"are":[182,187],"occupied":[183],"those":[185],"empty.":[188],"trajectory":[191],"planning":[192],"carried":[195],"out,":[196],"means":[201],"spatially":[203],"indexing":[204],"without":[206],"needing":[207],"represent":[209],"extremely":[214],"fine":[215],"resolution.":[216],"one":[221],"part":[222],"more":[225],"complex":[226],"by":[232],"sensory":[234],"system":[235],"robot":[238],"manipulator":[239],"understanding":[241],"environment.":[243]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
