{"id":"https://openalex.org/W2291536712","doi":"https://doi.org/10.3390/s16030311","title":"A Monocular Vision Sensor-Based Obstacle Detection Algorithm for Autonomous Robots","display_name":"A Monocular Vision Sensor-Based Obstacle Detection Algorithm for Autonomous Robots","publication_year":2016,"publication_date":"2016-03-01","ids":{"openalex":"https://openalex.org/W2291536712","doi":"https://doi.org/10.3390/s16030311","mag":"2291536712","pmid":"https://pubmed.ncbi.nlm.nih.gov/26938540"},"language":"en","primary_location":{"id":"doi:10.3390/s16030311","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16030311","pdf_url":"https://www.mdpi.com/1424-8220/16/3/311/pdf?version=1456822711","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/16/3/311/pdf?version=1456822711","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049827635","display_name":"Tae-jae Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Tae-Jae Lee","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Seoul National University, Seoul 151-742, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Seoul National University, Seoul 151-742, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101003618","display_name":"Dong-Hoon Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-Hoon Yi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Seoul National University, Seoul 151-742, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Seoul National University, Seoul 151-742, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027876568","display_name":"Dong\u2010il Cho","orcid":"https://orcid.org/0000-0002-8040-5803"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Dong-Il Cho","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Seoul National University, Seoul 151-742, Korea","Inter-University Semiconductor Research Center (ISRC), Seoul National University, Seoul 151-742, Korea"],"raw_orcid":"https://orcid.org/0000-0002-8040-5803","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Seoul National University, Seoul 151-742, Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Inter-University Semiconductor Research Center (ISRC), Seoul National University, Seoul 151-742, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5027876568"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":59.5377,"has_fulltext":true,"cited_by_count":49,"citation_normalized_percentile":{"value":0.9956143,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"16","issue":"3","first_page":"311","last_page":"311"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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":0.9991000294685364,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9983000159263611,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9940000176429749,"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":0.8790273666381836},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7808139324188232},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.758255124092102},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6686586141586304},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.6540734767913818},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6206032037734985},{"id":"https://openalex.org/keywords/markov-random-field","display_name":"Markov random field","score":0.6114315986633301},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5290371775627136},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5220151543617249},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.48920440673828125},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4793485105037689},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45520642399787903},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4396202564239502},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3066554069519043},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0944998562335968}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8790273666381836},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7808139324188232},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.758255124092102},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6686586141586304},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.6540734767913818},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6206032037734985},{"id":"https://openalex.org/C2778045648","wikidata":"https://www.wikidata.org/wiki/Q176827","display_name":"Markov random field","level":4,"score":0.6114315986633301},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5290371775627136},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5220151543617249},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.48920440673828125},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4793485105037689},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45520642399787903},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4396202564239502},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3066554069519043},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0944998562335968},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s16030311","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16030311","pdf_url":"https://www.mdpi.com/1424-8220/16/3/311/pdf?version=1456822711","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:26938540","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26938540","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:f29a662e512542a79b7c26265021b91d","is_oa":true,"landing_page_url":"https://doaj.org/article/f29a662e512542a79b7c26265021b91d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 16, Iss 3, p 311 (2016)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:3792374","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4813886","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/16/3/311/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s16030311","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":"Sensors; Volume 16; Issue 3; Pages: 311","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s16030311","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16030311","pdf_url":"https://www.mdpi.com/1424-8220/16/3/311/pdf?version=1456822711","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2688704893","display_name":null,"funder_award_id":"UD130070ID","funder_id":"https://openalex.org/F4320334874","funder_display_name":"Defense Acquisition Program Administration"},{"id":"https://openalex.org/G4465909668","display_name":null,"funder_award_id":"UD130070ID","funder_id":"https://openalex.org/F4320323103","funder_display_name":"Agency for Defense Development"}],"funders":[{"id":"https://openalex.org/F4320323103","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85"},{"id":"https://openalex.org/F4320334874","display_name":"Defense Acquisition Program Administration","ror":"https://ror.org/04bjg9m96"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2291536712.pdf","grobid_xml":"https://content.openalex.org/works/W2291536712.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1484586360","https://openalex.org/W1512247406","https://openalex.org/W1519791567","https://openalex.org/W1531695270","https://openalex.org/W1540662857","https://openalex.org/W1565206031","https://openalex.org/W1755205674","https://openalex.org/W1964344553","https://openalex.org/W1965555277","https://openalex.org/W2000823586","https://openalex.org/W2003822483","https://openalex.org/W2004105114","https://openalex.org/W2010238578","https://openalex.org/W2017230080","https://openalex.org/W2052380198","https://openalex.org/W2054553468","https://openalex.org/W2086929871","https://openalex.org/W2090129124","https://openalex.org/W2101309634","https://openalex.org/W2101789519","https://openalex.org/W2106173001","https://openalex.org/W2110946546","https://openalex.org/W2118246710","https://openalex.org/W2126400337","https://openalex.org/W2126452053","https://openalex.org/W2128643429","https://openalex.org/W2131071980","https://openalex.org/W2139018966","https://openalex.org/W2142887887","https://openalex.org/W2144822599","https://openalex.org/W2164555262","https://openalex.org/W2167667767","https://openalex.org/W2169551590","https://openalex.org/W2342239267","https://openalex.org/W3140024553","https://openalex.org/W6679477048"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2375650349","https://openalex.org/W3197179449","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W4233585817","https://openalex.org/W2091635186","https://openalex.org/W4381188157","https://openalex.org/W4251947321"],"abstract_inverted_index":{"This":[0,57],"paper":[1],"presents":[2],"a":[3,93,169],"monocular":[4],"vision":[5],"sensor-based":[6],"obstacle":[7,30,45,83,106,133,145],"detection":[8],"algorithm":[9,49,110],"for":[10,41,44,168],"autonomous":[11],"robots.":[12],"Each":[13],"individual":[14],"image":[15],"pixel":[16],"at":[17],"the":[18,32,47,51,64,70,77,89,98,102,105,137,147,151,157,181,190],"bottom":[19],"region":[20],"of":[21,120,156],"interest":[22],"is":[23,59,66,85,107,111],"labeled":[24],"as":[25],"belonging":[26],"either":[27],"to":[28,116],"an":[29],"or":[31],"floor.":[33],"While":[34],"conventional":[35,170,191],"methods":[36],"depend":[37],"on":[38],"point":[39,74],"tracking":[40,75],"geometric":[42],"cues":[43],"detection,":[46],"proposed":[48,158,182],"uses":[50],"inverse":[52],"perspective":[53],"mapping":[54],"(IPM)":[55],"method.":[56],"method":[58,159,171,183,192],"much":[60],"more":[61],"advantageous":[62],"when":[63],"camera":[65],"not":[67],"high":[68],"off":[69],"floor,":[71],"which":[72,121],"makes":[73],"near":[76],"floor":[78,94,129],"difficult.":[79],"Markov":[80],"random":[81],"field-based":[82],"segmentation":[84,134,148],"then":[86],"performed":[87],"using":[88],"IPM":[90],"results":[91],"and":[92,104,136,150,162,174],"appearance":[95,130],"model.":[96],"Next,":[97],"shortest":[99],"distance":[100,138,153],"between":[101],"robot":[103],"calculated.":[108],"The":[109,132],"tested":[112],"by":[113],"applying":[114],"it":[115],"70":[117],"datasets,":[118,146,180],"20":[119],"include":[122],"nonobstacle":[123,179],"images":[124],"where":[125],"considerable":[126],"changes":[127],"in":[128],"occur.":[131],"accuracies":[135],"estimation":[139,154],"error":[140,155],"are":[141,160,172],"quantitatively":[142],"analyzed.":[143],"For":[144,178],"precision":[149],"average":[152],"81.4%":[161],"1.6":[163],"cm,":[164,176],"respectively,":[165],"whereas":[166],"those":[167],"57.5%":[173],"9.9":[175],"respectively.":[177],"gives":[184,193],"0.0%":[185],"false":[186],"positive":[187],"rates,":[188],"while":[189],"17.6%.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}