{"id":"https://openalex.org/W1993220466","doi":"https://doi.org/10.1145/2684746.2689099","title":"Real-Time Obstacle Avoidance for Mobile Robots via Stereoscopic Vision Using Reconfigurable Hardware (Abstract Only)","display_name":"Real-Time Obstacle Avoidance for Mobile Robots via Stereoscopic Vision Using Reconfigurable Hardware (Abstract Only)","publication_year":2015,"publication_date":"2015-02-10","ids":{"openalex":"https://openalex.org/W1993220466","doi":"https://doi.org/10.1145/2684746.2689099","mag":"1993220466"},"language":"en","primary_location":{"id":"doi:10.1145/2684746.2689099","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2684746.2689099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2015 ACM/SIGDA International Symposium on Field-Programmable Gate Arrays","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/A5031082538","display_name":"Martinianos Papadopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]}],"countries":["CY"],"is_corresponding":true,"raw_author_name":"Martinianos Papadopoulos","raw_affiliation_strings":["University of Cyprus, Nicosia, Cyprus"],"affiliations":[{"raw_affiliation_string":"University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056790450","display_name":"Christos Ttofis","orcid":"https://orcid.org/0000-0001-8788-4053"},"institutions":[{"id":"https://openalex.org/I4210159400","display_name":"AccSys Technology (United States)","ror":"https://ror.org/04btmch86","country_code":"US","type":"company","lineage":["https://openalex.org/I4210159400"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christos Ttofis","raw_affiliation_strings":["ACC Innovations Ltd, Nicosia, Cyprus"],"affiliations":[{"raw_affiliation_string":"ACC Innovations Ltd, Nicosia, Cyprus","institution_ids":["https://openalex.org/I4210159400"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085843780","display_name":"Christos Kyrkou","orcid":"https://orcid.org/0000-0002-7926-7642"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Christos Kyrkou","raw_affiliation_strings":["University of Cyprus, Nicosia, Cyprus"],"affiliations":[{"raw_affiliation_string":"University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041366767","display_name":"Theocharis Theocharides","orcid":"https://orcid.org/0000-0001-7222-9152"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Theocharis Theocharides","raw_affiliation_strings":["University of Cyprus, Nicosia, Cyprus"],"affiliations":[{"raw_affiliation_string":"University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031082538"],"corresponding_institution_ids":["https://openalex.org/I34771391"],"apc_list":null,"apc_paid":null,"fwci":0.5919,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.71891911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"262","last_page":"262"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9968000054359436,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6921049356460571},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6775823831558228},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.6499614715576172},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6111730337142944},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5965931415557861},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.5826510787010193},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5560368299484253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48969677090644836},{"id":"https://openalex.org/keywords/stereoscopy","display_name":"Stereoscopy","score":0.4818752706050873},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.46033912897109985},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45625102519989014},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40390872955322266},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.37113797664642334}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6921049356460571},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6775823831558228},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.6499614715576172},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6111730337142944},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5965931415557861},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.5826510787010193},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5560368299484253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48969677090644836},{"id":"https://openalex.org/C126057942","wikidata":"https://www.wikidata.org/wiki/Q35158","display_name":"Stereoscopy","level":2,"score":0.4818752706050873},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.46033912897109985},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45625102519989014},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40390872955322266},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.37113797664642334},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2684746.2689099","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2684746.2689099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2015 ACM/SIGDA International Symposium on Field-Programmable Gate Arrays","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2906946336"],"abstract_inverted_index":{"An":[0,53],"embedded,":[1],"real-time,":[2],"and":[3,26,45,63,101,115,168,188],"low":[4],"power":[5,200],"obstacle":[6,42,65],"avoidance":[7,43,66],"system":[8,106],"is":[9,48,119,211],"a":[10,34,79,116,122,172,175,178,224],"critical":[11],"component":[12],"towards":[13],"fully":[14],"autonomous":[15,46],"robots":[16,47],"that":[17,138,155,177],"can":[18,160,166],"be":[19,183],"used":[20,93],"in":[21,99,144,163,185],"safety":[22],"missions,":[23],"space":[24],"exploration,":[25],"transportation":[27],"systems":[28,44],"among":[29],"others.":[30],"In":[31],"this":[32],"paper":[33],"complete":[35],"prototyping":[36],"platform":[37,91,159],"for":[38,58,94,217],"the":[39,60,96,112,129,136,139,156,203,207],"evaluation":[40,152],"of":[41,125,174,202],"realized":[49],"on":[50,71,121,128,219,227],"reconfigurable":[51],"hardware.":[52],"efficient":[54],"stereo":[55,81,108,179],"vision":[56],"algorithm":[57,118,134],"producing":[59],"necessary":[61],"3D":[62],"an":[64,72],"subsystem":[67],"were":[68],"both":[69,186],"implemented":[70],"ATLYS":[73],"Spartan-6":[74],"FPGA":[75],"board":[76],"equipped":[77],"with":[78,191],"VmodCam":[80,113],"camera":[82],"module.":[83],"A":[84],"modified":[85],"FDX":[86],"Vantage":[87],"1/10":[88],"electric":[89],"car":[90,209],"was":[92],"testing":[95],"proposed":[97,204],"architecture":[98],"indoor":[100,187],"outdoor":[102,189],"real-world":[103],"scenes.":[104],"The":[105,133,198],"receives":[107],"image":[109,180],"data":[110],"from":[111],"module":[114],"decision-making":[117],"applied":[120],"specified":[123],"Region":[124],"Interest":[126],"(RoI)":[127],"produced":[130],"disparity":[131],"map.":[132],"outputs":[135],"direction":[137],"robot":[140],"should":[141],"move":[142],"to":[143,146,182,195],"order":[145],"avoid":[147,161],"any":[148],"obstacles":[149,162,170],"present.":[150],"Experimental":[151],"results":[153],"indicate":[154],"FPGA-based":[157],"robotic":[158],"real-time":[164],"(i.e.":[165],"process":[167],"identify":[169],"within":[171],"1/30th":[173],"second":[176],"takes":[181],"processed)":[184],"environments,":[190],"91.7%":[192],"accuracy,":[193],"equivalent":[194],"software":[196],"implementations.":[197],"overall":[199],"consumption":[201],"architecture,":[205],"excluding":[206],"electronic":[208],"platform,":[210],"6":[212],"W,":[213],"making":[214],"it":[215],"ideal":[216],"use":[218],"mobile":[220],"robots,":[221],"without":[222],"becoming":[223],"significant":[225],"drain":[226],"its":[228],"battery":[229],"life.":[230]},"counts_by_year":[{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}