{"id":"https://openalex.org/W3004991469","doi":"https://doi.org/10.1145/3368961","title":"Autonomous Visual Navigation for Mobile Robots","display_name":"Autonomous Visual Navigation for Mobile Robots","publication_year":2020,"publication_date":"2020-02-06","ids":{"openalex":"https://openalex.org/W3004991469","doi":"https://doi.org/10.1145/3368961","mag":"3004991469"},"language":"en","primary_location":{"id":"doi:10.1145/3368961","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3368961","pdf_url":null,"source":{"id":"https://openalex.org/S157921468","display_name":"ACM Computing Surveys","issn_l":"0360-0300","issn":["0360-0300","1557-7341"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Computing Surveys","raw_type":"journal-article"},"type":"review","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/A5090023716","display_name":"Yuri D. V. Yasuda","orcid":"https://orcid.org/0000-0002-5981-5701"},"institutions":[{"id":"https://openalex.org/I88273585","display_name":"Universidade Federal de S\u00e3o Paulo","ror":"https://ror.org/02k5swt12","country_code":"BR","type":"education","lineage":["https://openalex.org/I88273585"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Yuri D. V. Yasuda","raw_affiliation_strings":["Universidade Federal de S\u00e3o Paulo, SP, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-5981-5701","affiliations":[{"raw_affiliation_string":"Universidade Federal de S\u00e3o Paulo, SP, Brazil","institution_ids":["https://openalex.org/I88273585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078838133","display_name":"Luiz Eduardo Galv\u00e3o Martins","orcid":"https://orcid.org/0000-0002-7266-5840"},"institutions":[{"id":"https://openalex.org/I88273585","display_name":"Universidade Federal de S\u00e3o Paulo","ror":"https://ror.org/02k5swt12","country_code":"BR","type":"education","lineage":["https://openalex.org/I88273585"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Luiz Eduardo G. Martins","raw_affiliation_strings":["Universidade Federal de S\u00e3o Paulo, SP, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de S\u00e3o Paulo, SP, Brazil","institution_ids":["https://openalex.org/I88273585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051958513","display_name":"F\u00e1bio A. M. Cappabianco","orcid":"https://orcid.org/0000-0002-2139-7938"},"institutions":[{"id":"https://openalex.org/I88273585","display_name":"Universidade Federal de S\u00e3o Paulo","ror":"https://ror.org/02k5swt12","country_code":"BR","type":"education","lineage":["https://openalex.org/I88273585"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Fabio A. M. Cappabianco","raw_affiliation_strings":["Universidade Federal de S\u00e3o Paulo, SP, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de S\u00e3o Paulo, SP, Brazil","institution_ids":["https://openalex.org/I88273585"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I88273585"],"apc_list":null,"apc_paid":null,"fwci":109.351,"has_fulltext":false,"cited_by_count":137,"citation_normalized_percentile":{"value":0.99915661,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"53","issue":"1","first_page":"1","last_page":"34"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991000294685364,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9832000136375427,"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/computer-science","display_name":"Computer science","score":0.8189788460731506},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.526260495185852},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.5173906087875366},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5106516480445862},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5063782930374146},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4949933886528015},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.46953141689300537},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.46861252188682556},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4680079519748688},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4496224820613861},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.4267893135547638},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33163636922836304},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.224828839302063},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1288515031337738}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8189788460731506},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.526260495185852},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.5173906087875366},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5106516480445862},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5063782930374146},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4949933886528015},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.46953141689300537},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.46861252188682556},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4680079519748688},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4496224820613861},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.4267893135547638},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33163636922836304},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.224828839302063},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1288515031337738},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3368961","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3368961","pdf_url":null,"source":{"id":"https://openalex.org/S157921468","display_name":"ACM Computing Surveys","issn_l":"0360-0300","issn":["0360-0300","1557-7341"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Computing Surveys","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320318003","display_name":"Universidade Federal de S\u00e3o Paulo","ror":"https://ror.org/02k5swt12"},{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":116,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W612478963","https://openalex.org/W1504992226","https://openalex.org/W1522203756","https://openalex.org/W1552812696","https://openalex.org/W1568315197","https://openalex.org/W1604765850","https://openalex.org/W1653467114","https://openalex.org/W1965528266","https://openalex.org/W1969223439","https://openalex.org/W1970902713","https://openalex.org/W1972652425","https://openalex.org/W1974765892","https://openalex.org/W1975715077","https://openalex.org/W1976395353","https://openalex.org/W1979266466","https://openalex.org/W1979471379","https://openalex.org/W1980605044","https://openalex.org/W1982452847","https://openalex.org/W1992279871","https://openalex.org/W1994068612","https://openalex.org/W2001836169","https://openalex.org/W2002863638","https://openalex.org/W2004301566","https://openalex.org/W2007079389","https://openalex.org/W2015928066","https://openalex.org/W2016428155","https://openalex.org/W2018934657","https://openalex.org/W2018977597","https://openalex.org/W2021014642","https://openalex.org/W2022536703","https://openalex.org/W2022675911","https://openalex.org/W2027561509","https://openalex.org/W2031672365","https://openalex.org/W2042803082","https://openalex.org/W2046929517","https://openalex.org/W2048030613","https://openalex.org/W2048329048","https://openalex.org/W2056069119","https://openalex.org/W2057868216","https://openalex.org/W2058063222","https://openalex.org/W2067532355","https://openalex.org/W2070923961","https://openalex.org/W2072677688","https://openalex.org/W2075567787","https://openalex.org/W2080277554","https://openalex.org/W2080796648","https://openalex.org/W2080950762","https://openalex.org/W2082313107","https://openalex.org/W2092755489","https://openalex.org/W2093111446","https://openalex.org/W2096121318","https://openalex.org/W2102149298","https://openalex.org/W2104930514","https://openalex.org/W2105224953","https://openalex.org/W2105360263","https://openalex.org/W2110188799","https://openalex.org/W2116298349","https://openalex.org/W2122762971","https://openalex.org/W2124522952","https://openalex.org/W2130476388","https://openalex.org/W2131126266","https://openalex.org/W2136454116","https://openalex.org/W2137357022","https://openalex.org/W2140655825","https://openalex.org/W2140845923","https://openalex.org/W2145493798","https://openalex.org/W2150066425","https://openalex.org/W2151439528","https://openalex.org/W2152671441","https://openalex.org/W2154857596","https://openalex.org/W2160702330","https://openalex.org/W2160731649","https://openalex.org/W2161644760","https://openalex.org/W2165157582","https://openalex.org/W2168220076","https://openalex.org/W2233828343","https://openalex.org/W2249219900","https://openalex.org/W2289706488","https://openalex.org/W2290256689","https://openalex.org/W2296733864","https://openalex.org/W2336469227","https://openalex.org/W2400560295","https://openalex.org/W2464674920","https://openalex.org/W2503151643","https://openalex.org/W2527704174","https://openalex.org/W2535634543","https://openalex.org/W2537786618","https://openalex.org/W2540604862","https://openalex.org/W2544625947","https://openalex.org/W2545365048","https://openalex.org/W2552930270","https://openalex.org/W2554461401","https://openalex.org/W2564205497","https://openalex.org/W2588658352","https://openalex.org/W2594156432","https://openalex.org/W2607170611","https://openalex.org/W2621274416","https://openalex.org/W2735118027","https://openalex.org/W2737953495","https://openalex.org/W2915383908","https://openalex.org/W2916021241","https://openalex.org/W4232338639","https://openalex.org/W4234897673","https://openalex.org/W4235543384","https://openalex.org/W4237512112","https://openalex.org/W4239699894","https://openalex.org/W4241307704","https://openalex.org/W4243194985","https://openalex.org/W4243245246","https://openalex.org/W4243914845","https://openalex.org/W4245087630","https://openalex.org/W4289710724","https://openalex.org/W4298181244","https://openalex.org/W4300781940","https://openalex.org/W4323517655"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W3081536868","https://openalex.org/W2523265608","https://openalex.org/W2122735287","https://openalex.org/W2324656256"],"abstract_inverted_index":{"Autonomous":[0],"mobile":[1],"robots":[2],"are":[3,33],"required":[4],"to":[5,78,217],"move":[6],"throughout":[7],"map":[8],"the":[9,22,80,130,137,190,223,228,236,243,249],"environment,":[10],"locate":[11],"themselves,":[12],"and":[13,28,55,75,92,106,120,127,161,174,182,206,209,241,247,251],"plan":[14],"paths":[15],"between":[16,125],"positions.":[17],"Vision":[18],"stands":[19],"out":[20],"among":[21],"other":[23,121],"senses":[24],"for":[25,59,103,146,227,245,258],"its":[26,86],"richness":[27],"practicality.":[29],"Even":[30],"though":[31],"there":[32],"well-established":[34],"autonomous":[35,46,82,143,154],"navigation":[36,47,83,144,152,155,187,213],"solutions,":[37],"as":[38,40],"far":[39],"we":[41,220],"can":[42,255],"tell,":[43],"no":[44],"complete":[45,81,186,224],"system":[48],"that":[49,56,254],"is":[50,57,136],"solely":[51],"based":[52],"on":[53,100,198],"vision":[54,157,200],"suitable":[58,145],"dynamic":[60,147],"indoor":[61,104,148],"environments":[62,105],"has":[63],"fully":[64],"succeeded.":[65],"This":[66],"article":[67],"presents":[68],"a":[69,170,183,233,252],"systematic":[70,139,207,229],"literature":[71,122],"review":[72,98,140,168],"of":[73,96,111,132,166,176,185,211,235],"methods":[74,102,159],"techniques":[76],"used":[77,226,257],"solve":[79],"problem":[84],"or":[85],"parts:":[87],"localization,":[88],"mapping,":[89],"path":[90],"planning,":[91],"locomotion.":[93],"The":[94,164],"focus":[95],"this":[97,135,167,262],"lays":[99],"vision-based":[101,142],"ground":[107],"robots.":[108],"A":[109],"total":[110],"121":[112],"studies":[113],"were":[114],"considered,":[115],"comprising":[116],"methods,":[117,153,178],"conceptual":[118],"models,":[119],"reviews":[123,260],"published":[124],"2000":[126],"2017.":[128],"To":[129],"best":[131],"our":[133],"knowledge,":[134],"first":[138],"about":[141],"environments.":[149],"It":[150],"addresses":[151],"requirements,":[156],"benefits,":[158],"testing,":[160],"implementations":[162],"validation.":[163],"results":[165,193],"show":[169],"deficiency":[171],"in":[172,189,261],"testing":[173,208],"validation":[175,210],"presented":[177],"poor":[179],"requirements":[180,202],"specification,":[181,203],"lack":[184],"systems":[188],"literature.":[191],"These":[192],"should":[194],"encourage":[195],"new":[196],"works":[197],"computer":[199],"techniques,":[201],"development,":[204],"integration,":[205],"general":[212],"systems.":[214],"In":[215],"addition":[216],"these":[218],"findings,":[219],"also":[221],"present":[222],"methodology":[225],"review,":[230],"which":[231],"provides":[232],"documentation":[234],"process":[237],"(allowing":[238],"quality":[239],"assessment":[240],"repeatability),":[242],"criteria":[244],"selecting":[246],"evaluating":[248],"studies,":[250],"framework":[253],"be":[256],"future":[259],"research":[263],"area.":[264]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":32},{"year":2024,"cited_by_count":35},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":6}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}