{"id":"https://openalex.org/W2564205497","doi":"https://doi.org/10.1145/3009977.3010063","title":"Fast frontier detection in indoor environment for monocular SLAM","display_name":"Fast frontier detection in indoor environment for monocular SLAM","publication_year":2016,"publication_date":"2016-12-18","ids":{"openalex":"https://openalex.org/W2564205497","doi":"https://doi.org/10.1145/3009977.3010063","mag":"2564205497"},"language":"en","primary_location":{"id":"doi:10.1145/3009977.3010063","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3009977.3010063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Tenth Indian Conference on Computer Vision, Graphics and Image Processing","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/A5075314174","display_name":"Sarthak Upadhyay","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sarthak Upadhyay","raw_affiliation_strings":["IIIT Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT Hyderabad","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"K Madhava Krishna","raw_affiliation_strings":["IIIT Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT Hyderabad","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053838336","display_name":"Swagat Kumar","orcid":"https://orcid.org/0000-0001-7405-3445"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Swagat Kumar","raw_affiliation_strings":["TCS Innovation Labs"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TCS Innovation Labs","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.29181244,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9976999759674072,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","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/monocular","display_name":"Monocular","score":0.715255618095398},{"id":"https://openalex.org/keywords/conditional-random-field","display_name":"Conditional random field","score":0.7014687061309814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6948499083518982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6747597455978394},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6539319157600403},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5282149910926819},{"id":"https://openalex.org/keywords/frontier","display_name":"Frontier","score":0.5274101495742798},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48643922805786133},{"id":"https://openalex.org/keywords/doors","display_name":"Doors","score":0.4769398272037506},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4647328853607178},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3383883833885193},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.29236578941345215}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.715255618095398},{"id":"https://openalex.org/C152565575","wikidata":"https://www.wikidata.org/wiki/Q1124538","display_name":"Conditional random field","level":2,"score":0.7014687061309814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6948499083518982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6747597455978394},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6539319157600403},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5282149910926819},{"id":"https://openalex.org/C2778571376","wikidata":"https://www.wikidata.org/wiki/Q1355821","display_name":"Frontier","level":2,"score":0.5274101495742798},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48643922805786133},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.4769398272037506},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4647328853607178},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3383883833885193},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.29236578941345215},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3009977.3010063","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3009977.3010063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Tenth Indian Conference on Computer Vision, Graphics and Image Processing","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/f43a958b-1d58-497b-8f06-52813cbeb4c3","is_oa":false,"landing_page_url":"https://research.edgehill.ac.uk/en/publications/f43a958b-1d58-497b-8f06-52813cbeb4c3","pdf_url":null,"source":{"id":"https://openalex.org/S4306402462","display_name":"Edge Hill University Research Information Repository (Edge Hill University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165525304","host_organization_name":"Edge Hill University","host_organization_lineage":["https://openalex.org/I165525304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Upadhyay, S, Krishna, K M & Kumar, S 2016, 'Fast frontier detection in indoor environment for monocular SLAM'. https://doi.org/10.1145/3009977.3010063","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1832534480","https://openalex.org/W1942294243","https://openalex.org/W1997358194","https://openalex.org/W2107667896","https://openalex.org/W2108134361","https://openalex.org/W2108803008","https://openalex.org/W2115324667","https://openalex.org/W2118688532","https://openalex.org/W2142924305","https://openalex.org/W2151290401","https://openalex.org/W2171028727"],"related_works":["https://openalex.org/W3016239942","https://openalex.org/W2486091485","https://openalex.org/W4293365988","https://openalex.org/W2374188760","https://openalex.org/W2997934945","https://openalex.org/W2468876127","https://openalex.org/W4205206412","https://openalex.org/W2885750329","https://openalex.org/W2487340859","https://openalex.org/W2980723633"],"abstract_inverted_index":{"Frontier":[0],"detection":[1,29],"is":[2,35,100],"a":[3,40,46,91,188],"critical":[4],"component":[5],"in":[6,19,39,86,150,157,191],"autonomous":[7],"exploration,":[8],"wherein":[9,161],"the":[10,13,61,68,75,104,151],"robot":[11,64],"decides":[12],"next":[14],"best":[15],"location":[16],"to":[17,21,37,102,131,144,169,174,187],"move":[18],"order":[20],"continue":[22],"its":[23],"mapping":[24],"process.":[25],"The":[26],"existing":[27],"frontier":[28,109],"methods":[30,149],"require":[31],"dense":[32,71],"reconstruction":[33],"which":[34],"difficult":[36],"attain":[38],"poorly":[41],"textured":[42],"indoor":[43,159],"environment":[44],"using":[45],"monocular":[47,146],"camera.":[48],"In":[49],"this":[50,136],"effort,":[51],"we":[52,89,154],"present":[53,155],"an":[54,129,158],"alternate":[55],"method":[56,137],"of":[57,63,70,108,119],"detecting":[58],"frontiers":[59,78,142,162],"during":[60],"course":[62],"motion":[65],"that":[66,77,99,135,184],"circumvents":[67],"requirement":[69],"mapping.":[72],"Based":[73],"on":[74],"observation":[76,130],"typically":[79],"occur":[80],"around":[81,111,125,166],"areas":[82,127],"with":[83],"sudden":[84],"change":[85,124],"texture":[87],"(zero-crossings),":[88],"propose":[90],"novel":[92],"linear":[93],"chain":[94],"Conditional":[95],"Random":[96],"Field(CRF)":[97],"formulation":[98],"able":[101],"detect":[103],"presence":[105],"or":[106,177],"absence":[107],"regions":[110],"such":[112],"areas.":[113],"We":[114,133],"use":[115],"cues":[116],"like":[117],"spread":[118],"3D":[120],"points":[121],"and":[122,179,181],"scene":[123],"these":[126],"as":[128],"CRF.":[132],"demonstrate":[134],"gives":[138],"us":[139],"more":[140],"relevant":[141],"compared":[143],"other":[145,182],"camera":[147],"based":[148],"literature.":[152],"Finally,":[153],"results":[156],"environment,":[160],"are":[163],"reliably":[164],"detected":[165],"walls":[167],"leading":[168,173],"new":[170,175,189],"corridors,":[171],"doors":[172],"rooms":[176],"corridors":[178],"tables":[180],"objects":[183],"open":[185],"up":[186],"space":[190],"rooms.":[192]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
