{"id":"https://openalex.org/W2888899728","doi":"https://doi.org/10.1142/s2301385018500097","title":"A Low-Cost Monocular Vision-Based Obstacle Avoidance Using SVM and Optical Flow","display_name":"A Low-Cost Monocular Vision-Based Obstacle Avoidance Using SVM and Optical Flow","publication_year":2018,"publication_date":"2018-08-29","ids":{"openalex":"https://openalex.org/W2888899728","doi":"https://doi.org/10.1142/s2301385018500097","mag":"2888899728"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385018500097","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385018500097","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-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/A5101862960","display_name":"Ajay Shankar","orcid":null},"institutions":[{"id":"https://openalex.org/I114395901","display_name":"University of Nebraska\u2013Lincoln","ror":"https://ror.org/043mer456","country_code":"US","type":"education","lineage":["https://openalex.org/I114395901"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ajay Shankar","raw_affiliation_strings":["University of Nebraska\u2013Lincoln, Lincoln, NE 68588, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nebraska\u2013Lincoln, Lincoln, NE 68588, USA","institution_ids":["https://openalex.org/I114395901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050521702","display_name":"Mayank Vatsa","orcid":"https://orcid.org/0000-0001-5952-2274"},"institutions":[{"id":"https://openalex.org/I119939252","display_name":"Indraprastha Institute of Information Technology Delhi","ror":"https://ror.org/03vfp4g33","country_code":"IN","type":"education","lineage":["https://openalex.org/I119939252"]},{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Mayank Vatsa","raw_affiliation_strings":["IIIT Delhi, New Delhi 110020, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT Delhi, New Delhi 110020, India","institution_ids":["https://openalex.org/I119939252","https://openalex.org/I68891433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014252229","display_name":"P. B. Sujit","orcid":"https://orcid.org/0000-0002-7297-1493"},"institutions":[{"id":"https://openalex.org/I119939252","display_name":"Indraprastha Institute of Information Technology Delhi","ror":"https://ror.org/03vfp4g33","country_code":"IN","type":"education","lineage":["https://openalex.org/I119939252"]},{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"P. B. Sujit","raw_affiliation_strings":["IIIT Delhi, New Delhi 110020, India"],"raw_orcid":"https://orcid.org/0000-0002-7297-1493","affiliations":[{"raw_affiliation_string":"IIIT Delhi, New Delhi 110020, India","institution_ids":["https://openalex.org/I119939252","https://openalex.org/I68891433"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.107,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.93859775,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"06","issue":"04","first_page":"267","last_page":"275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9991999864578247,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9973999857902527,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7808369398117065},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7642693519592285},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7374027371406555},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.722603440284729},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7170184850692749},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6498989462852478},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6337925791740417},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.6120540499687195},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.5675099492073059},{"id":"https://openalex.org/keywords/pyramid","display_name":"Pyramid (geometry)","score":0.554676353931427},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5455847978591919},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5290077328681946},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.47397392988204956},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.45963627099990845},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2934446334838867},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2733343541622162},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.20558717846870422},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14269503951072693}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7808369398117065},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7642693519592285},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7374027371406555},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.722603440284729},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7170184850692749},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6498989462852478},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6337925791740417},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.6120540499687195},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.5675099492073059},{"id":"https://openalex.org/C142575187","wikidata":"https://www.wikidata.org/wiki/Q3358290","display_name":"Pyramid (geometry)","level":2,"score":0.554676353931427},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5455847978591919},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5290077328681946},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.47397392988204956},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.45963627099990845},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2934446334838867},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2733343541622162},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.20558717846870422},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14269503951072693},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2301385018500097","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385018500097","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1725511346","https://openalex.org/W1971492416","https://openalex.org/W2093488518","https://openalex.org/W2131071980","https://openalex.org/W2142859597","https://openalex.org/W2145352197","https://openalex.org/W2153635508","https://openalex.org/W2582119245","https://openalex.org/W3103278230","https://openalex.org/W4239510810","https://openalex.org/W4300855173"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2975575631","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109"],"abstract_inverted_index":{"Development":[0],"of":[1,37,91,113,149,164],"low-cost":[2,58],"robots":[3,21],"with":[4,167],"the":[5,35,66,147,161,165],"capability":[6],"to":[7,169],"detect":[8],"and":[9,26,55,76,107,172,179,182,188],"avoid":[10,136],"obstacles":[11,115],"along":[12],"their":[13],"path":[14],"is":[15,53,85,133,143,174],"essential":[16],"for":[17,49,57,129,176],"autonomous":[18],"navigation.":[19],"These":[20],"have":[22,34],"limited":[23],"computational":[24],"resources":[25],"payload":[27],"capacity.":[28],"Further,":[29],"existing":[30],"direct":[31],"range-finding":[32],"methods":[33],"trade-off":[36],"complexity":[38],"against":[39],"range.":[40],"In":[41],"this":[42],"paper,":[43],"we":[44],"propose":[45],"a":[46,82,109,138],"vision-based":[47],"system":[48],"obstacle":[50,131,152],"detection":[51],"which":[52,98],"lightweight":[54],"useful":[56],"robots.":[59],"Currently,":[60],"monocular":[61],"vision":[62],"approaches":[63],"used":[64],"in":[65],"literature":[67],"suffer":[68],"from":[69,103,116],"various":[70],"environmental":[71],"constraints":[72],"such":[73],"as":[74,88],"texture":[75],"color.":[77],"To":[78,135],"mitigate":[79],"these":[80],"limitations,":[81],"novel":[83],"algorithm":[84],"proposed,":[86],"termed":[87],"Pyramid":[89],"Histogram":[90],"Oriented":[92],"Optical":[93],"Flow":[94],"([Formula:":[95],"see":[96,127],"text]-HOOF),":[97],"distinctly":[99],"captures":[100],"motion":[101,163],"vectors":[102],"local":[104],"image":[105],"patches":[106],"provides":[108],"robust":[110],"descriptor":[111],"capable":[112],"discriminating":[114],"nonobstacles.":[117],"A":[118],"support":[119],"vector":[120],"machine":[121],"(SVM)":[122],"classifier":[123],"that":[124,145],"uses":[125],"[Formula:":[126],"text]-HOOF":[128],"real-time":[130],"classification":[132],"utilized.":[134],"obstacles,":[137],"behavior-based":[139],"collision":[140],"avoidance":[141],"mechanism":[142],"designed":[144],"updates":[146],"probability":[148],"encountering":[150],"an":[151],"while":[153],"navigating.":[154],"The":[155],"proposed":[156],"approach":[157],"depends":[158],"only":[159],"on":[160],"relative":[162],"robot":[166],"respect":[168],"its":[170],"surroundings,":[171],"therefore":[173],"suitable":[175],"both":[177],"indoor":[178],"outdoor":[180],"applications":[181],"has":[183],"been":[184],"validated":[185],"through":[186],"simulated":[187],"hardware":[189],"experiments.":[190]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}