乐胖代购免代理版

{"id":"https://openalex.org/W4386249536","doi":"https://doi.org/10.1109/crv60082.2023.00018","title":"Along Similar Lines: Local Obstacle Avoidance for Long-Term Autonomous Path Following","display_name":"Along Similar Lines: Local Obstacle Avoidance for Long-Term Autonomous Path Following","publication_year":2023,"publication_date":"2023-06-01","ids":{"openalex":"https://openalex.org/W4386249536","doi":"https://doi.org/10.1109/crv60082.2023.00018"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/crv60082.2023.00018","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://arxiv.org/pdf/2211.02047","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037079245","display_name":"Jordy Sehn","orcid":"https://orcid.org/0009-0003-8446-5525"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"funder","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jordy Sehn","raw_affiliation_strings":["University of Toronto, Institute for Aerospace Studies, Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto, Institute for Aerospace Studies, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100663756","display_name":"Yuchen Wu","orcid":"https://orcid.org/0009-0009-3707-1586"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"funder","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yuchen Wu","raw_affiliation_strings":["University of Toronto, Institute for Aerospace Studies, Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto, Institute for Aerospace Studies, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"funder","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["University of Toronto, Institute for Aerospace Studies, Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto, Institute for Aerospace Studies, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.891,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.755187,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":85,"max":88},"biblio":{"volume":null,"issue":null,"first_page":"81","last_page":"88"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9996,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9996,"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":0.9992,"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":0.9984,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7157029}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7157029},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6844733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.66542625},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.65020263},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.58774877},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.56821555},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.54399455},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.52693546},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48245555},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.48152763},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.48044273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4639454},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3960823},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34154457},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19367939},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14258453},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08571881},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/crv60082.2023.00018","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2211.02047","pdf_url":"http://arxiv.org/pdf/2211.02047","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2211.02047","pdf_url":"http://arxiv.org/pdf/2211.02047","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6}],"grants":[{"funder":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada","award_id":null}],"datasets":[],"versions":[],"referenced_works_count":26,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W1724370735","https://openalex.org/W1958903105","https://openalex.org/W2044526330","https://openalex.org/W2045217012","https://openalex.org/W2082761562","https://openalex.org/W2093593306","https://openalex.org/W2102402483","https://openalex.org/W2124792970","https://openalex.org/W2159157696","https://openalex.org/W2208195722","https://openalex.org/W2341848647","https://openalex.org/W2561611286","https://openalex.org/W2562514116","https://openalex.org/W2610207162","https://openalex.org/W2771953900","https://openalex.org/W2950312551","https://openalex.org/W3100741063","https://openalex.org/W3102121895","https://openalex.org/W3103346840","https://openalex.org/W3112641445","https://openalex.org/W3198835173","https://openalex.org/W3208007362","https://openalex.org/W3209579200","https://openalex.org/W4230475428","https://openalex.org/W4284881614"],"related_works":["https://openalex.org/W4391249562","https://openalex.org/W4380590094","https://openalex.org/W4253519380","https://openalex.org/W3043170174","https://openalex.org/W2930076404","https://openalex.org/W2782776446","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2155948905","https://openalex.org/W2071957557"],"abstract_inverted_index":{"Visual":[0],"Teach":[1],"and":[2,18,43,137],"Repeat":[3],"3":[4],"(VT&R3),":[5],"a":[6,21,34,80,86,141],"generalization":[7],"of":[8,33,37,57,66,148],"stereo":[9],"VT&R,":[10],"achieves":[11],"long-term":[12,153],"autonomous":[13,154],"path-following":[14,127],"using":[15],"topometric":[16],"mapping":[17],"localization":[19],"from":[20,131],"single":[22],"rich":[23],"sensor":[24],"stream.":[25],"In":[26],"this":[27],"paper,":[28],"we":[29,113],"improve":[30],"the":[31,52,64,74,115,146,149],"capabilities":[32],"LiDAR":[35],"implementation":[36],"VT":[38,118],"&R3":[39],"to":[40,55,71,106,124],"reliably":[41],"detect":[42],"avoid":[44,98],"obstacles":[45,100],"in":[46,156],"changing":[47],"environments.":[48,159],"Our":[49],"architecture":[50],"simplifies":[51],"obstacle-perception":[53],"problem":[54,76],"that":[56,97],"place-dependent":[58],"change":[59],"detection.":[60],"We":[61],"then":[62],"extend":[63],"behaviour":[65],"generic":[67],"sample-based":[68],"motion":[69],"planners":[70],"better":[72],"suit":[73,125],"teach-and-repeat":[75],"structure":[77],"by":[78],"introducing":[79],"new":[81],"edge-cost":[82],"metric":[83],"paired":[84],"with":[85,117],"curvilinear":[87],"planning":[88],"space.":[89],"The":[90],"resulting":[91],"planner":[92],"generates":[93],"naturally":[94],"smooth":[95],"paths":[96],"local":[99],"while":[101],"minimizing":[102],"lateral":[103],"path":[104],"deviation":[105],"best":[107],"exploit":[108],"prior":[109],"terrain":[110],"knowledge.":[111],"While":[112],"use":[114],"method":[116],"&R,":[119],"it":[120],"can":[121],"be":[122],"generalized":[123],"arbitrary":[126],"applications.":[128],"Experimental":[129],"results":[130],"online":[132],"run-time":[133],"analysis,":[134],"unit":[135],"testing,":[136],"qualitative":[138],"experiments":[139],"on":[140],"differential":[142],"drive":[143],"robot":[144],"show":[145],"promise":[147],"technique":[150],"for":[151],"reliable":[152],"operation":[155],"complex":[157],"un-structured":[158]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4386249536","counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2025-04-24T16:33:05.717873","created_date":"2023-08-30"}