{"id":"https://openalex.org/W2768807643","doi":"https://doi.org/10.1145/3132446.3134889","title":"Small obstacle detection using stereo vision for autonomous ground vehicle","display_name":"Small obstacle detection using stereo vision for autonomous ground vehicle","publication_year":2017,"publication_date":"2017-06-28","ids":{"openalex":"https://openalex.org/W2768807643","doi":"https://doi.org/10.1145/3132446.3134889","mag":"2768807643"},"language":"en","primary_location":{"id":"doi:10.1145/3132446.3134889","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3132446.3134889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Advances in Robotics","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/A5028549700","display_name":"Krishnam Gupta","orcid":null},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Krishnam Gupta","raw_affiliation_strings":["International Institute of Information Technology Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"International Institute of Information Technology Hyderabad, India","institution_ids":["https://openalex.org/I64189192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075314174","display_name":"Sarthak Upadhyay","orcid":null},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sarthak Upadhyay","raw_affiliation_strings":["International Institute of Information Technology Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"International Institute of Information Technology Hyderabad, India","institution_ids":["https://openalex.org/I64189192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067298540","display_name":"Vineet Gandhi","orcid":"https://orcid.org/0000-0001-8861-7731"},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Vineet Gandhi","raw_affiliation_strings":["International Institute of Information Technology Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"International Institute of Information Technology Hyderabad, India","institution_ids":["https://openalex.org/I64189192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014904041","display_name":"K. Madhav Krishna","orcid":null},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"K. Madhav Krishna","raw_affiliation_strings":["International Institute of Information Technology Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"International Institute of Information Technology Hyderabad, India","institution_ids":["https://openalex.org/I64189192"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5237,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.97371042,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"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":0.9997000098228455,"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":0.9997000098228455,"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":0.9988999962806702,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9983999729156494,"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/obstacle","display_name":"Obstacle","score":0.8824779987335205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7822502851486206},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7749463319778442},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7612245082855225},{"id":"https://openalex.org/keywords/markov-random-field","display_name":"Markov random field","score":0.7100584506988525},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5936168432235718},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5656272768974304},{"id":"https://openalex.org/keywords/road-surface","display_name":"Road surface","score":0.5089495182037354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49519672989845276},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.485429584980011},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.43903061747550964},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.42961585521698},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.34622520208358765},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29265233874320984},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2557290196418762},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.23655501008033752},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.21141842007637024},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09625959396362305},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08204343914985657}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8824779987335205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7822502851486206},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7749463319778442},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7612245082855225},{"id":"https://openalex.org/C2778045648","wikidata":"https://www.wikidata.org/wiki/Q176827","display_name":"Markov random field","level":4,"score":0.7100584506988525},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5936168432235718},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5656272768974304},{"id":"https://openalex.org/C2780042925","wikidata":"https://www.wikidata.org/wiki/Q1049667","display_name":"Road surface","level":2,"score":0.5089495182037354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49519672989845276},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.485429584980011},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.43903061747550964},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.42961585521698},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.34622520208358765},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29265233874320984},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2557290196418762},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.23655501008033752},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.21141842007637024},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09625959396362305},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08204343914985657},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3132446.3134889","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3132446.3134889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Advances in Robotics","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":19,"referenced_works":["https://openalex.org/W1515019571","https://openalex.org/W1964344553","https://openalex.org/W1999050017","https://openalex.org/W2004105114","https://openalex.org/W2024139303","https://openalex.org/W2041600899","https://openalex.org/W2064658112","https://openalex.org/W2070866676","https://openalex.org/W2078036165","https://openalex.org/W2099555712","https://openalex.org/W2107516554","https://openalex.org/W2113137767","https://openalex.org/W2117248802","https://openalex.org/W2123277060","https://openalex.org/W2140541765","https://openalex.org/W2143742957","https://openalex.org/W2156849739","https://openalex.org/W2963840672","https://openalex.org/W3150224893"],"related_works":["https://openalex.org/W3119387605","https://openalex.org/W2012726219","https://openalex.org/W4324119010","https://openalex.org/W2940528859","https://openalex.org/W3002010059","https://openalex.org/W2901637722","https://openalex.org/W2599015666","https://openalex.org/W2067862728","https://openalex.org/W2319427155","https://openalex.org/W3144722627"],"abstract_inverted_index":{"Small":[0],"and":[1,37,42,67,76,92,97,144],"medium":[2],"sized":[3],"obstacles":[4,120],"such":[5,54,70,121,136,153],"as":[6,21,23,55,71,122,137,154],"rocks,":[7,123],"small":[8,33],"boulders,":[9],"bricks":[10],"left":[11],"unattended":[12],"on":[13,34,40,107,140],"the":[14,35,50,88,141,156,161,166,169],"road":[15,36,145,163],"can":[16],"pose":[17],"hazards":[18],"for":[19,113],"autonomous":[20],"well":[22],"human":[24],"driving":[25],"situations.":[26],"Many":[27],"times":[28],"these":[29],"objects":[30],"are":[31],"too":[32],"go":[38],"unnoticed":[39],"depth":[41,77,98],"point":[43],"cloud":[44],"maps":[45],"obtained":[46,100],"from":[47,101],"state":[48],"of":[49,168],"art":[51],"range":[52],"sensors":[53],"3D":[56,68],"LIDAR.":[57],"We":[58],"propose":[59],"a":[60,80,102,108],"novel":[61],"algorithm":[62,128],"that":[63,86],"fuses":[64],"both":[65],"appearance":[66,138],"cues":[69],"image":[72],"gradients,":[73],"curvature":[74],"potentials":[75],"variance":[78],"into":[79,90],"Markov":[81],"Random":[82],"Field":[83],"(MRF)":[84],"formulation":[85],"segments":[87],"scene":[89,164],"obstacle":[91,94,158],"non":[93],"regions.":[95],"Appearance":[96],"data":[99],"ZED":[103],"stereo":[104],"pair":[105],"mounted":[106],"Husky":[109],"robot":[110],"is":[111,129],"used":[112],"this":[114],"purpose.":[115],"While":[116],"identifying":[117],"true":[118],"positive":[119,134],"large":[124],"stones":[125],"accurately":[126],"our":[127],"simultaneously":[130],"robust":[131],"to":[132],"false":[133],"sources":[135],"changes":[139],"road,":[142],"papers":[143],"markings.":[146],"High":[147],"accuracy":[148],"detection":[149],"in":[150],"challenging":[151],"scenes":[152],"when":[155],"foreground":[157],"blends":[159],"with":[160],"background":[162],"vindicates":[165],"efficacy":[167],"proposed":[170],"formulation.":[171]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
