{"id":"https://openalex.org/W3017826578","doi":"https://doi.org/10.3390/s20092477","title":"A Doorway Detection and Direction (3Ds) System for Social Robots via a Monocular Camera","display_name":"A Doorway Detection and Direction (3Ds) System for Social Robots via a Monocular Camera","publication_year":2020,"publication_date":"2020-04-27","ids":{"openalex":"https://openalex.org/W3017826578","doi":"https://doi.org/10.3390/s20092477","mag":"3017826578","pmid":"https://pubmed.ncbi.nlm.nih.gov/32349349"},"language":"en","primary_location":{"id":"doi:10.3390/s20092477","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20092477","pdf_url":"https://www.mdpi.com/1424-8220/20/9/2477/pdf?version=1588506237","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/1424-8220/20/9/2477/pdf?version=1588506237","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016210029","display_name":"Kamal M. Othman","orcid":"https://orcid.org/0000-0003-0217-0751"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kamal M. Othman","raw_affiliation_strings":["Autonomous and Intelligent Systems Laboratory, School of Mechatronic Systems Engineering, Simon Fraser University, Surrey, BC V3T 0A3, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Systems Laboratory, School of Mechatronic Systems Engineering, Simon Fraser University, Surrey, BC V3T 0A3, Canada","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087944994","display_name":"A.B. Rad","orcid":null},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Ahmad B. Rad","raw_affiliation_strings":["Autonomous and Intelligent Systems Laboratory, School of Mechatronic Systems Engineering, Simon Fraser University, Surrey, BC V3T 0A3, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Systems Laboratory, School of Mechatronic Systems Engineering, Simon Fraser University, Surrey, BC V3T 0A3, Canada","institution_ids":["https://openalex.org/I18014758"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5087944994"],"corresponding_institution_ids":["https://openalex.org/I18014758"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":13.0322,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.97987688,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"20","issue":"9","first_page":"2477","last_page":"2477"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9987000226974487,"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":0.7773230075836182},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7650406360626221},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6916316151618958},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.689312756061554},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6605973839759827},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6214433312416077},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5518449544906616},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5017862319946289},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06766793131828308}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7773230075836182},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7650406360626221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6916316151618958},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.689312756061554},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6605973839759827},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6214433312416077},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5518449544906616},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5017862319946289},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06766793131828308},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s20092477","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20092477","pdf_url":"https://www.mdpi.com/1424-8220/20/9/2477/pdf?version=1588506237","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:32349349","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32349349","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:28a720b02d8f487195d13d4ca05d99a9","is_oa":true,"landing_page_url":"https://doaj.org/article/28a720b02d8f487195d13d4ca05d99a9","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 20, Iss 9, p 2477 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/9/2477/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s20092477","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","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7249124","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7249124","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:summit.sfu.ca:20045","is_oa":true,"landing_page_url":"http://summit.sfu.ca/item/20045","pdf_url":null,"source":{"id":"https://openalex.org/S4306400490","display_name":"Summit (Simon Fraser University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I18014758","host_organization_name":"Simon Fraser University","host_organization_lineage":["https://openalex.org/I18014758"],"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":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.3390/s20092477","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20092477","pdf_url":"https://www.mdpi.com/1424-8220/20/9/2477/pdf?version=1588506237","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3017826578.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1590274725","https://openalex.org/W1592011777","https://openalex.org/W1625478134","https://openalex.org/W1963764484","https://openalex.org/W1976514650","https://openalex.org/W2013250853","https://openalex.org/W2016505519","https://openalex.org/W2019553660","https://openalex.org/W2021488424","https://openalex.org/W2067467837","https://openalex.org/W2071661870","https://openalex.org/W2072379837","https://openalex.org/W2086724557","https://openalex.org/W2097856935","https://openalex.org/W2115579991","https://openalex.org/W2123643853","https://openalex.org/W2132556676","https://openalex.org/W2139905387","https://openalex.org/W2197540850","https://openalex.org/W2476740321","https://openalex.org/W2517193973","https://openalex.org/W2536043048","https://openalex.org/W2752488934","https://openalex.org/W2787501217","https://openalex.org/W2907670226","https://openalex.org/W2913466723","https://openalex.org/W3200042178","https://openalex.org/W6678487615","https://openalex.org/W6695823178"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W2091635186","https://openalex.org/W4381188157","https://openalex.org/W4251947321","https://openalex.org/W2011626633","https://openalex.org/W2037866696","https://openalex.org/W2027891072"],"abstract_inverted_index":{"In":[0],"this":[1,36,130],"paper,":[2],"we":[3],"propose":[4],"a":[5,10,22,28,40,44,62,74,81],"novel":[6],"algorithm":[7],"to":[8,34,120],"detect":[9],"door":[11,69,94],"and":[12,109,117],"its":[13],"orientation":[14],"in":[15,135],"indoor":[16,141],"settings":[17],"from":[18,43],"the":[19,53,68,93,96,122,125],"view":[20],"of":[21,55,59,67,92,124,129],"social":[23],"robot":[24],"equipped":[25],"with":[26,38],"only":[27,39],"monocular":[29,45],"camera.":[30,46],"The":[31,47,65,90,127],"challenge":[32],"is":[33,50,70,99],"achieve":[35],"goal":[37],"2D":[41],"image":[42],"proposed":[48],"system":[49,139],"designed":[51],"through":[52],"integration":[54],"several":[56],"modules,":[57],"each":[58],"which":[60],"serves":[61],"special":[63],"purpose.":[64],"detection":[66],"addressed":[71],"by":[72,101],"training":[73],"convolutional":[75],"neural":[76],"network":[77],"(CNN)":[78],"model":[79],"on":[80],"new":[82],"dataset":[83],"for":[84,140],"Social":[85],"Robot":[86],"Indoor":[87],"Navigation":[88],"(SRIN).":[89],"direction":[91],"(from":[95],"robot's":[97],"observation)":[98],"achieved":[100],"three":[102],"other":[103],"modules:":[104],"Depth":[105],"module,":[106,108,111],"Pixel-Selection":[107],"Pixel2Angle":[110],"respectively.":[112],"We":[113],"include":[114],"simulation":[115],"results":[116],"real-time":[118],"experiments":[119],"demonstrate":[121],"performance":[123],"algorithm.":[126],"outcome":[128],"study":[131],"could":[132],"be":[133],"beneficial":[134],"any":[136],"robotic":[137],"navigation":[138],"environments.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}