{"id":"https://openalex.org/W4385273553","doi":"https://doi.org/10.3390/rs15153717","title":"Active Navigation System for a Rubber-Tapping Robot Based on Trunk Detection","display_name":"Active Navigation System for a Rubber-Tapping Robot Based on Trunk Detection","publication_year":2023,"publication_date":"2023-07-25","ids":{"openalex":"https://openalex.org/W4385273553","doi":"https://doi.org/10.3390/rs15153717"},"language":"en","primary_location":{"id":"doi:10.3390/rs15153717","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15153717","pdf_url":"https://www.mdpi.com/2072-4292/15/15/3717/pdf?version=1690293742","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/15/15/3717/pdf?version=1690293742","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004298860","display_name":"Jiahao Fang","orcid":"https://orcid.org/0009-0002-3429-7837"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Fang","raw_affiliation_strings":["Automotive Walking Technology (Beijing) Co., Ltd., Beijing 100071, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"Automotive Walking Technology (Beijing) Co., Ltd., Beijing 100071, China","institution_ids":[]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062980212","display_name":"Yongliang Shi","orcid":"https://orcid.org/0000-0003-3086-729X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongliang Shi","raw_affiliation_strings":["Institute for AI Industry Research, Tsinghua University, Beijing 100084, China"],"affiliations":[{"raw_affiliation_string":"Institute for AI Industry Research, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114121189","display_name":"Jianhua Cao","orcid":"https://orcid.org/0000-0003-3415-6049"},"institutions":[{"id":"https://openalex.org/I107851509","display_name":"Chinese Academy of Tropical Agricultural Sciences","ror":"https://ror.org/003qeh975","country_code":"CN","type":"government","lineage":["https://openalex.org/I107851509","https://openalex.org/I4210127390","https://openalex.org/I4210151987"]},{"id":"https://openalex.org/I4210109893","display_name":"Rubber Research Institute","ror":"https://ror.org/01w4k1v53","country_code":"CN","type":"facility","lineage":["https://openalex.org/I107851509","https://openalex.org/I4210109893","https://openalex.org/I4210127390","https://openalex.org/I4210151987"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Cao","raw_affiliation_strings":["Rubber Research Institute of Chinese Academy of Tropical Agricultural Sciences, Danzhou 571101, China"],"affiliations":[{"raw_affiliation_string":"Rubber Research Institute of Chinese Academy of Tropical Agricultural Sciences, Danzhou 571101, China","institution_ids":["https://openalex.org/I107851509","https://openalex.org/I4210109893"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100309527","display_name":"Yao Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yao Sun","raw_affiliation_strings":["Automotive Walking Technology (Beijing) Co., Ltd., Beijing 100071, China"],"affiliations":[{"raw_affiliation_string":"Automotive Walking Technology (Beijing) Co., Ltd., Beijing 100071, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100340717","display_name":"Weimin Zhang","orcid":"https://orcid.org/0000-0001-6632-0144"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Zhang","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5062980212"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":4.9316,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.94855633,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"15","issue":"15","first_page":"3717","last_page":"3717"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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":0.9988999962806702,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9861999750137329,"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":0.7039976119995117},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6276046633720398},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6082437038421631},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5839741826057434},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4806077182292938},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4721762537956238}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7039976119995117},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6276046633720398},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6082437038421631},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5839741826057434},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4806077182292938},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4721762537956238},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs15153717","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15153717","pdf_url":"https://www.mdpi.com/2072-4292/15/15/3717/pdf?version=1690293742","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a370ac39bc4b4ef7a3b2b785b0557670","is_oa":true,"landing_page_url":"https://doaj.org/article/a370ac39bc4b4ef7a3b2b785b0557670","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 15, Iss 15, p 3717 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/15/15/3717/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs15153717","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing; Volume 15; Issue 15; Pages: 3717","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs15153717","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15153717","pdf_url":"https://www.mdpi.com/2072-4292/15/15/3717/pdf?version=1690293742","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385273553.pdf"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W1479814506","https://openalex.org/W1512698229","https://openalex.org/W2013175505","https://openalex.org/W2021063678","https://openalex.org/W2022781620","https://openalex.org/W2023513943","https://openalex.org/W2049981393","https://openalex.org/W2051610568","https://openalex.org/W2072569846","https://openalex.org/W2131439959","https://openalex.org/W2131865378","https://openalex.org/W2143110079","https://openalex.org/W2207136187","https://openalex.org/W2277848489","https://openalex.org/W2295984417","https://openalex.org/W2414309118","https://openalex.org/W2549200707","https://openalex.org/W2562542491","https://openalex.org/W2605103573","https://openalex.org/W2614747897","https://openalex.org/W2620993408","https://openalex.org/W2742107142","https://openalex.org/W2756623162","https://openalex.org/W2909908358","https://openalex.org/W2913638934","https://openalex.org/W2921158648","https://openalex.org/W2926185582","https://openalex.org/W2932321159","https://openalex.org/W2938818630","https://openalex.org/W2940793188","https://openalex.org/W2943961850","https://openalex.org/W2962301798","https://openalex.org/W2963081068","https://openalex.org/W2967222368","https://openalex.org/W2967955574","https://openalex.org/W3041049917","https://openalex.org/W3088846333","https://openalex.org/W3089829935","https://openalex.org/W3091198895","https://openalex.org/W3104038589","https://openalex.org/W3129245057","https://openalex.org/W3142772534","https://openalex.org/W3150145544","https://openalex.org/W3209085343","https://openalex.org/W3214256989","https://openalex.org/W4220881680","https://openalex.org/W4221045207","https://openalex.org/W4226437492","https://openalex.org/W4303579207","https://openalex.org/W4378554582","https://openalex.org/W6634739074","https://openalex.org/W6662860747","https://openalex.org/W6737848705","https://openalex.org/W6765812764","https://openalex.org/W6817117944"],"related_works":["https://openalex.org/W2541791370","https://openalex.org/W4315750480","https://openalex.org/W2035976912","https://openalex.org/W4383748483","https://openalex.org/W4205657394","https://openalex.org/W3003695190","https://openalex.org/W4285265093","https://openalex.org/W3094187672","https://openalex.org/W2325200052","https://openalex.org/W1987441863"],"abstract_inverted_index":{"To":[0,58],"address":[1],"the":[2,108,138,161],"practical":[3,143],"navigation":[4,14,88],"issues":[5],"of":[6,130,151],"rubber-tapping":[7,22,149,162],"robots,":[8],"this":[9],"paper":[10],"proposes":[11],"an":[12],"active":[13],"system":[15],"guided":[16],"by":[17,54],"trunk":[18,132],"detection":[19,133],"for":[20,33],"a":[21,64,85,152],"robot.":[23,109],"A":[24,142],"tightly":[25],"coupled":[26],"sliding-window-based":[27],"factor":[28],"graph":[29],"method":[30,68,134,158],"is":[31,69,101,135,140,145],"proposed":[32,102,157],"pose":[34],"tracking,":[35],"which":[36],"introduces":[37],"normal":[38],"distribution":[39],"transform":[40],"(NDT)":[41],"measurement":[42,45],"factors,":[43,49],"inertial":[44],"unit":[46],"(IMU)":[47],"pre-integration":[48],"and":[50,76,96,122,137,168],"prior":[51],"factors":[52],"generated":[53],"sliding":[55],"window":[56],"marginalization.":[57],"actively":[59],"pursue":[60],"goals":[61],"in":[62,71,120,147,164],"navigation,":[63],"distance-adaptive":[65],"Euclidean":[66],"clustering":[67],"utilized":[70],"conjunction":[72],"with":[73],"cylinder":[74],"fitting":[75],"composite":[77],"criteria":[78],"screening":[79],"to":[80,103,107,125],"identify":[81],"tree":[82],"trunks.":[83],"Additionally,":[84],"hybrid":[86],"map":[87,94,99],"approach":[89,115],"involving":[90],"3D":[91],"point":[92],"cloud":[93],"localization":[95],"2D":[97],"grid":[98],"planning":[100],"apply":[104],"these":[105],"methods":[106],"Experiments":[110],"show":[111],"that":[112],"our":[113,131],"pose-tracking":[114],"obtains":[116],"generally":[117],"better":[118],"performance":[119],"accuracy":[121],"robustness":[123],"compared":[124],"existing":[126],"methods.":[127],"The":[128,156],"precision":[129],"93%":[136],"recall":[139],"87%.":[141],"validation":[144],"completed":[146],"robot":[148,163],"tasks":[150],"real":[153],"rubber":[154],"plantation.":[155],"can":[159],"guide":[160],"complex":[165],"forest":[166],"environments":[167],"improve":[169],"efficiency.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-11T08:14:18.477133","created_date":"2025-10-10T00:00:00"}
