{"id":"https://openalex.org/W2015705237","doi":"https://doi.org/10.1163/156855398x00280","title":"Building a local floor map by use of ultrasonic and omni-directional vision sensors","display_name":"Building a local floor map by use of ultrasonic and omni-directional vision sensors","publication_year":1997,"publication_date":"1997-01-01","ids":{"openalex":"https://openalex.org/W2015705237","doi":"https://doi.org/10.1163/156855398x00280","mag":"2015705237"},"language":"en","primary_location":{"id":"doi:10.1163/156855398x00280","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855398x00280","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5043043112","display_name":"Shih-Chieh Wei","orcid":"https://orcid.org/0000-0001-7084-2498"},"institutions":[{"id":"https://openalex.org/I4210106555","display_name":"Toneyama National Hospital","ror":"https://ror.org/01ppsp263","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210106555","https://openalex.org/I4210137409"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shih-Chieh Wei","raw_affiliation_strings":["a    Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan","a Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a    Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan","institution_ids":["https://openalex.org/I4210106555"]},{"raw_affiliation_string":"a Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan","institution_ids":["https://openalex.org/I4210106555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040773064","display_name":"Yasushi Yagi","orcid":"https://orcid.org/0000-0002-3546-8071"},"institutions":[{"id":"https://openalex.org/I4210106555","display_name":"Toneyama National Hospital","ror":"https://ror.org/01ppsp263","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210106555","https://openalex.org/I4210137409"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasushi Yagi","raw_affiliation_strings":["b    Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan","b Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b    Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan","institution_ids":["https://openalex.org/I4210106555"]},{"raw_affiliation_string":"b Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan","institution_ids":["https://openalex.org/I4210106555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110479995","display_name":"Masahiko Yachida","orcid":null},"institutions":[{"id":"https://openalex.org/I4210106555","display_name":"Toneyama National Hospital","ror":"https://ror.org/01ppsp263","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210106555","https://openalex.org/I4210137409"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiko Yachida","raw_affiliation_strings":["c    Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan","c Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c    Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan","institution_ids":["https://openalex.org/I4210106555"]},{"raw_affiliation_string":"c Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, Machikaneyamacho 1-3, Toyonaka City, Osaka 560-8531, Japan","institution_ids":["https://openalex.org/I4210106555"]}]}],"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":4,"citation_normalized_percentile":{"value":0.67495265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":"4","first_page":"433","last_page":"453"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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":0.993399977684021,"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":0.9825000166893005,"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-vision","display_name":"Computer vision","score":0.8098275065422058},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7153406739234924},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6215059161186218},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5836384296417236},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.5577436685562134},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5198098421096802},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5061201453208923},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.46876829862594604},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.43575379252433777},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20798704028129578},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.17763692140579224},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17345494031906128}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8098275065422058},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7153406739234924},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6215059161186218},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5836384296417236},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.5577436685562134},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5198098421096802},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5061201453208923},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.46876829862594604},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.43575379252433777},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20798704028129578},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.17763692140579224},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17345494031906128},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1163/156855398x00280","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855398x00280","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:tkuir.lib.tku.edu.tw:987654321/68612","is_oa":false,"landing_page_url":"https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/68612","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1567193306","https://openalex.org/W1596597228","https://openalex.org/W1661161170","https://openalex.org/W1919315941","https://openalex.org/W1987939430","https://openalex.org/W2004615287","https://openalex.org/W2007635681","https://openalex.org/W2059596647","https://openalex.org/W2080692320","https://openalex.org/W2089337412","https://openalex.org/W2095784398","https://openalex.org/W2108966603","https://openalex.org/W2144506716","https://openalex.org/W2147641420","https://openalex.org/W2148323578","https://openalex.org/W2158057652","https://openalex.org/W2159812250"],"related_works":["https://openalex.org/W2618703391","https://openalex.org/W2361945759","https://openalex.org/W1934323445","https://openalex.org/W2349331384","https://openalex.org/W2033547812","https://openalex.org/W2011628206","https://openalex.org/W2378058397","https://openalex.org/W2293629629","https://openalex.org/W2349900658","https://openalex.org/W2374252098"],"abstract_inverted_index":{"For":[0],"robot":[1,68],"navigation,":[2],"it":[3],"is":[4,203],"important":[5],"to":[6,27,52,120,191],"have":[7,24],"a":[8,37,54,85,115,141],"local":[9],"map":[10],"which":[11,41,145,225],"gives":[12],"the":[13,17,29,43,59,64,67,90,100,121,125,130,147,154,173,176,193,211,215,227],"free":[14,30,56,212],"space":[15,57,213],"around":[16,58,172,214],"robot.":[18,60,174,216],"Various":[19],"sensing":[20],"and":[21,108,118,133,178,184,189],"fusion":[22,39,151,233],"methods":[23],"been":[25],"developed":[26],"detect":[28],"space.":[31],"In":[32],"this":[33,159],"paper":[34],"we":[35,105,162],"propose":[36],"new":[38],"approach":[40],"uses":[42],"ultrasonic":[44,65],"sensor":[45,51,104,232],"aided":[46],"by":[47,97,124],"an":[48,164,219],"omni-directional":[49,102],"vision":[50,103],"give":[53,84],"grid-based":[55,143],"By":[61],"use":[62,98],"of":[63,93,99,149,229],"sensor,":[66],"can":[69,83,111,136],"obtain":[70,163],"conservative":[71],"range":[72,78,156],"information":[73,110,135,157,186],"based":[74],"on":[75,140],"our":[76,150,230],"nearby":[77],"filtering":[79,82],"method.":[80],"The":[81,196],"more":[86],"reliable":[87],"result":[88],"considering":[89],"sensor's":[91],"problem":[92],"specular":[94],"reflection.":[95],"Also,":[96],"special":[101],"developed,":[106],"color":[107,132,177,182],"edge":[109,134,179],"be":[112,138],"obtained":[113],"in":[114,158,218],"single":[116],"picture":[117],"mapped":[119],"ground":[122],"plane":[123],"inverse":[126],"perspective":[127],"transformation.":[128],"Thus":[129],"range,":[131],"all":[137],"expressed":[139],"metric":[142,160],"representation":[144],"forms":[146],"basis":[148],"processing.":[152],"From":[153,175],"filtered":[155],"representation,":[161],"initial":[165],"safety":[166,194,201],"index":[167,202],"for":[168],"each":[169],"grid":[170,197],"cell":[171],"information,":[180],"uniform":[181],"regions":[183],"connectivity":[185],"are":[187,223],"extracted":[188],"used":[190],"revise":[192],"index.":[195],"cells":[198],"whose":[199],"final":[200],"above":[204],"some":[205],"given":[206,224],"threshold":[207],"will":[208],"then":[209],"constitute":[210],"Results":[217],"indoor":[220],"cluttered":[221],"environment":[222],"show":[226],"usefulness":[228],"proposed":[231],"approach.":[234]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}