{"id":"https://openalex.org/W2891743600","doi":"https://doi.org/10.1109/icra.2018.8461152","title":"Annotating Traversable Gaps in Walkable Environments","display_name":"Annotating Traversable Gaps in Walkable Environments","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2891743600","doi":"https://doi.org/10.1109/icra.2018.8461152","mag":"2891743600"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461152","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":"https://dspace.library.uu.nl/bitstream/handle/1874/427756/Annotating_Traversable_Gaps_in_Walkable_Environments.pdf?sequence=1&isAllowed=y","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090094163","display_name":"Jordi L. Vermeulen","orcid":"https://orcid.org/0000-0001-7255-561X"},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jordi L. Vermeulen","raw_affiliation_strings":["Department of Information and Computing Sciences, Utrecht University, Utrecht, the Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Information and Computing Sciences, Utrecht University, Utrecht, the Netherlands","institution_ids":["https://openalex.org/I193662353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002529189","display_name":"Arne Hillebrand","orcid":null},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Arne Hillebrand","raw_affiliation_strings":["Department of Information and Computing Sciences, Utrecht University, Utrecht, the Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Information and Computing Sciences, Utrecht University, Utrecht, the Netherlands","institution_ids":["https://openalex.org/I193662353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018533967","display_name":"Rol Geraerts","orcid":null},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Rol Geraerts","raw_affiliation_strings":["Department of Information and Computing Sciences, Utrecht University, Utrecht, the Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Information and Computing Sciences, Utrecht University, Utrecht, the Netherlands","institution_ids":["https://openalex.org/I193662353"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.142,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":3,"citation_normalized_percentile":{"value":0.518904,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":74,"max":77},"biblio":{"volume":null,"issue":null,"first_page":"3045","last_page":"3052"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9999,"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":0.9999,"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":0.9985,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9976,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/representation","display_name":"Representation","score":0.635803},{"id":"https://openalex.org/keywords/tweaking","display_name":"Tweaking","score":0.5994004}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7923347},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.635803},{"id":"https://openalex.org/C2780200862","wikidata":"https://www.wikidata.org/wiki/Q4453309","display_name":"Tweaking","level":2,"score":0.5994004},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.53025645},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5227935},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5219459},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.47674215},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42827988},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3466115},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3324649},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3021248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29767385},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.096355945},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461152","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://dspace.library.uu.nl/handle/1874/427756","pdf_url":"https://dspace.library.uu.nl/bitstream/handle/1874/427756/Annotating_Traversable_Gaps_in_Walkable_Environments.pdf?sequence=1&isAllowed=y","source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":["Royal Netherlands Academy of Arts and Sciences"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://dspace.library.uu.nl/handle/1874/427756","pdf_url":"https://dspace.library.uu.nl/bitstream/handle/1874/427756/Annotating_Traversable_Gaps_in_Walkable_Environments.pdf?sequence=1&isAllowed=y","source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":["Royal Netherlands Academy of Arts and Sciences"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.64}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":14,"referenced_works":["https://openalex.org/W105147962","https://openalex.org/W1597051262","https://openalex.org/W1978992136","https://openalex.org/W2008151176","https://openalex.org/W2022047704","https://openalex.org/W2046227230","https://openalex.org/W2130682064","https://openalex.org/W2145495492","https://openalex.org/W2150500908","https://openalex.org/W2344261941","https://openalex.org/W2571765921","https://openalex.org/W2623479494","https://openalex.org/W2740800637","https://openalex.org/W4206225701"],"related_works":["https://openalex.org/W4241780599","https://openalex.org/W3154539612","https://openalex.org/W2968428037","https://openalex.org/W2380019117","https://openalex.org/W2369187583","https://openalex.org/W2359600231","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1981619058","https://openalex.org/W1660309994"],"abstract_inverted_index":{"Autonomous":[0],"agents":[1],"typically":[2],"need":[3],"a":[4,8,22,96,115,133],"navigation":[5,137],"mesh":[6,18,138],"of":[7,25,37,64,75,78,101,104,121,157,173],"3D":[9,39,69],"virtual":[10],"environment":[11,32,40],"to":[12,54,59,95,130,175],"allow":[13],"efficient":[14],"path":[15],"planning.":[16],"This":[17],"needs":[19],"as":[20],"input":[21],"continuous":[23],"representation":[24,156],"the":[26,30,35,38,55,61,68,76,79,105,154,158,163,166],"walkable":[27,31,106,159,167],"areas.":[28],"However,":[29,179],"(WE),":[33],"i.e.":[34],"parts":[36],"that":[41,85,142],"an":[42,83],"agent":[43],"can":[44],"walk":[45],"on,":[46],"may":[47,51],"contain":[48],"gaps.":[49,90],"These":[50],"be":[52,73,124],"due":[53],"filtering":[56],"steps":[57],"performed":[58],"compute":[60],"WE,":[62],"because":[63],"modelling":[65],"errors":[66],"in":[67,149],"model,":[70],"or":[71],"simply":[72],"part":[74],"geometry":[77],"environment.":[80],"We":[81,91,113,126,140],"provide":[82],"algorithm":[84,129],"identifies":[86],"and":[87,108,169,187],"fills":[88],"these":[89],"detect":[92],"gaps,":[93],"up":[94],"given":[97],"distance,":[98],"between":[99],"pairs":[100,120],"boundary":[102],"edges":[103,122],"environment,":[107,160],"fill":[109],"them":[110],"with":[111],"polygons.":[112],"employ":[114],"heuristic":[116],"for":[117,136],"choosing":[118],"which":[119],"should":[123],"connected.":[125],"compare":[127],"our":[128,143,180],"Recast":[131],"[10],":[132],"voxel-based":[134],"method":[135,144,181],"generation.":[139],"find":[141],"gives":[145],"more":[146,189],"accurate":[147],"results":[148],"many":[150],"environments:":[151],"it":[152],"retains":[153],"exact":[155],"semantically":[161],"separates":[162],"gaps":[164],"from":[165],"areas,":[168],"requires":[170,188],"no":[171],"tweaking":[172],"parameters":[174],"obtain":[176],"good":[177],"results.":[178],"is":[182],"currently":[183],"slower":[184],"than":[185],"Recast,":[186],"memory.":[190]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2891743600","counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2024-12-11T20:03:56.475465","created_date":"2018-09-27"}