{"id":"https://openalex.org/W2013257962","doi":"https://doi.org/10.1177/027836499000900607","title":"Qualitative Understanding of Scene Dynamics for Mobile Robots","display_name":"Qualitative Understanding of Scene Dynamics for Mobile Robots","publication_year":1990,"publication_date":"1990-12-01","ids":{"openalex":"https://openalex.org/W2013257962","doi":"https://doi.org/10.1177/027836499000900607","mag":"2013257962"},"language":"en","primary_location":{"id":"doi:10.1177/027836499000900607","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499000900607","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5087074070","display_name":"Wilhelm Burger","orcid":null},"institutions":[{"id":"https://openalex.org/I82514191","display_name":"Honeywell (United States)","ror":"https://ror.org/02t71h845","country_code":"US","type":"company","lineage":["https://openalex.org/I82514191"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Wilhelm Burger","raw_affiliation_strings":["Honeywell Systems and Research Center Minneapolis, Minnesota 55418"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honeywell Systems and Research Center Minneapolis, Minnesota 55418","institution_ids":["https://openalex.org/I82514191"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071522801","display_name":"Bir Bhanu","orcid":"https://orcid.org/0000-0001-8971-6416"},"institutions":[{"id":"https://openalex.org/I82514191","display_name":"Honeywell (United States)","ror":"https://ror.org/02t71h845","country_code":"US","type":"company","lineage":["https://openalex.org/I82514191"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bir Bhanu","raw_affiliation_strings":["Honeywell Systems and Research Center Minneapolis, Minnesota 55418"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honeywell Systems and Research Center Minneapolis, Minnesota 55418","institution_ids":["https://openalex.org/I82514191"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5087074070"],"corresponding_institution_ids":["https://openalex.org/I82514191"],"apc_list":null,"apc_paid":null,"fwci":1.2135,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80060856,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"9","issue":"6","first_page":"74","last_page":"90"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":0.9991999864578247,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.995199978351593,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7523114085197449},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.730762243270874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6576300859451294},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6500328183174133},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5992833971977234},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5879870057106018},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5155308246612549},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.514546811580658},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.504646897315979},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.49336400628089905},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.48752543330192566},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48181667923927307},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4606698751449585},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24034303426742554}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7523114085197449},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.730762243270874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6576300859451294},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6500328183174133},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5992833971977234},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5879870057106018},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5155308246612549},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.514546811580658},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.504646897315979},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.49336400628089905},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.48752543330192566},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48181667923927307},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4606698751449585},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24034303426742554},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836499000900607","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499000900607","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1533415908","https://openalex.org/W1598123022","https://openalex.org/W1963829526","https://openalex.org/W1989701469","https://openalex.org/W2010180204","https://openalex.org/W2040227412","https://openalex.org/W2043003144","https://openalex.org/W2077801414","https://openalex.org/W2083851951","https://openalex.org/W2090030512","https://openalex.org/W2094830892","https://openalex.org/W2096894278","https://openalex.org/W2111849236","https://openalex.org/W2115084764","https://openalex.org/W2115430812","https://openalex.org/W2136113379","https://openalex.org/W4253059935","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2047788632","https://openalex.org/W2123436641","https://openalex.org/W2965672371","https://openalex.org/W2118648141","https://openalex.org/W99879459","https://openalex.org/W2058063222","https://openalex.org/W2990667865","https://openalex.org/W3135923011","https://openalex.org/W2151698195","https://openalex.org/W2041038525"],"abstract_inverted_index":{"In":[0,25,129],"this":[1,190],"paper,":[2],"we":[3,27,103],"present":[4],"a":[5,17,22,54,63,116,126,133,160,195],"new":[6],"approach":[7,60],"to":[8,150,155,194],"analyzing":[9,140],"motion":[10],"sequences":[11],"as":[12],"they":[13],"are":[14,172,199],"observed":[15],"from":[16,53,67],"mobile":[18],"robot":[19],"operating":[20],"in":[21,77,87,185],"dynamic":[23],"environment.":[24],"particular,":[26],"address":[28],"the":[29,34,40,47,81,92,99,106,109,130,141,156,179,186],"problems":[30,100],"of":[31,50,56,62,70,89,94,101,108,111,146,164,182,189],"(a)":[32],"estimating":[33],"robot's":[35,82],"egomotion,":[36],"(b)":[37],"recon":[38],"structing":[39],"3D":[41,134],"scene":[42,135,170],"structure,":[43],"and":[44,91,143,153,167],"(c)":[45],"evaluating":[46],"mo":[48],"tion":[49,84],"individual":[51],"objects":[52,184],"sequence":[55,198],"monocular":[57],"images.":[58],"Our":[59],"consists":[61],"two-stage":[64],"process":[65],"starting":[66],"given":[68],"sets":[69],"displacement":[71],"vectors":[72],"between":[73],"distinct":[74],"image":[75,122,147,197],"features":[76,148],"successive":[78],"frames.":[79],"First,":[80],"egomo":[83],"is":[85,137],"computed":[86],"terms":[88],"rotations":[90],"direction":[93],"translation.":[95],"To":[96],"cope":[97],"with":[98],"noise,":[102],"have":[104],"extended":[105],"concept":[107],"Focus":[110],"Expansion":[112],"(FOE)":[113],"by":[114,139],"computing":[115],"Fuzzy":[117,157],"FOE,":[118],"which":[119],"defines":[120],"an":[121],"region":[123],"rather":[124],"than":[125],"single":[127],"point.":[128],"second":[131,176],"stage,":[132],"model":[136],"constructed":[138],"movements":[142],"posi":[144],"tions":[145],"relative":[149,154],"each":[151],"other":[152],"FOE.":[158],"Using":[159],"mainly":[161],"qualitative":[162],"strategy":[163],"rea":[165],"soning":[166],"modeling,":[168],"multiple":[169],"interpretations":[171],"pursued":[173],"simultaneously.":[174],"This":[175],"stage":[177],"allows":[178],"deter":[180],"mination":[181],"moving":[183],"scene.":[187],"Results":[188],"ap":[191],"proach":[192],"applied":[193],"real":[196],"presented.":[200]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}