{"id":"https://openalex.org/W2153707232","doi":"https://doi.org/10.1109/robot.2003.1241910","title":"Vision-based 2.5D terrain modeling for humanoid locomotion","display_name":"Vision-based 2.5D terrain modeling for humanoid locomotion","publication_year":2004,"publication_date":"2004-03-02","ids":{"openalex":"https://openalex.org/W2153707232","doi":"https://doi.org/10.1109/robot.2003.1241910","mag":"2153707232"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241910","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113812356","display_name":"S. Kagami","orcid":null},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Kagami","raw_affiliation_strings":["CREST Program, Japan Science and Technology Corporation, Japan","Digital Human Laboratory, National Institute for Advanced Industrial Science and Technology, Kouto, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"CREST Program, Japan Science and Technology Corporation, Japan","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"Digital Human Laboratory, National Institute for Advanced Industrial Science and Technology, Kouto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005694475","display_name":"Keiji Nishiwaki","orcid":"https://orcid.org/0000-0001-5017-244X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Nishiwaki","raw_affiliation_strings":["Department of Mechano-lnformatics, School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-lnformatics, School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021782513","display_name":"James Kuffner","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"J.J. Kuffner","raw_affiliation_strings":["Digital Human Laboratory, National Institute for Advanced Industrial Science and Technology, Kouto, Tokyo, Japan","School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Digital Human Laboratory, National Institute for Advanced Industrial Science and Technology, Kouto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Okada","raw_affiliation_strings":["Department of Mechano-lnformatics, School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-lnformatics, School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Inaba","raw_affiliation_strings":["Department of Mechano-lnformatics, School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-lnformatics, School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103163892","display_name":"H. Inoue","orcid":"https://orcid.org/0000-0002-6522-0886"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Inoue","raw_affiliation_strings":["Department of Mechano-lnformatics, School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-lnformatics, School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.518,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":40,"citation_normalized_percentile":{"value":0.893785,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":92},"biblio":{"volume":null,"issue":null,"first_page":"2141","last_page":"2146"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9974,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9974,"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":0.9971,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9955,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.89483297},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.82534087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7976481},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.78177345},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6959024},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.64766634},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.54592973},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.51075864},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.50160503},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.155846},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.06877312}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.79}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":16,"referenced_works":["https://openalex.org/W134995692","https://openalex.org/W1656165940","https://openalex.org/W1746662645","https://openalex.org/W1782560845","https://openalex.org/W1891947214","https://openalex.org/W1962169445","https://openalex.org/W2064994289","https://openalex.org/W2090949637","https://openalex.org/W2096176819","https://openalex.org/W2114766649","https://openalex.org/W2118220092","https://openalex.org/W2129138086","https://openalex.org/W2129744044","https://openalex.org/W2150496754","https://openalex.org/W2466281429","https://openalex.org/W52972403"],"related_works":["https://openalex.org/W2672194336","https://openalex.org/W2545617420","https://openalex.org/W2540925674","https://openalex.org/W2180860190","https://openalex.org/W2150306458","https://openalex.org/W2110521644","https://openalex.org/W2106321383","https://openalex.org/W2099430739","https://openalex.org/W1605248340","https://openalex.org/W1551237084"],"abstract_inverted_index":{"We":[0],"present":[1],"an":[2,68],"integrated":[3],"humanoid":[4,79,91],"locomotion":[5],"and":[6,45],"online":[7,69],"terrain":[8,26],"modeling":[9],"system":[10],"using":[11,77],"stereo":[12,38],"vision.":[13],"From":[14],"a":[15,19,35,58,86],"3D":[16],"depth":[17,30],"map,":[18],"2.5D":[20],"probabilistic":[21,59],"description":[22],"of":[23,37,61],"the":[24,62,78],"nearby":[25],"is":[27,32,43,65],"generated.":[28],"The":[29,52],"map":[31,60],"calculated":[33],"from":[34],"pair":[36],"camera":[39],"images,":[40],"correlation-based":[41],"localization":[42],"performed,":[44],"candidate":[46],"planar":[47],"walking":[48],"surfaces":[49],"are":[50,54,75],"extracted.":[51],"results":[53,74],"used":[55],"to":[56,67],"update":[57],"terrain,":[63],"which":[64,82],"input":[66],"footstep":[70],"planning":[71],"system.":[72],"Experimental":[73],"shown":[76],"robot":[80],"H7,":[81],"was":[83],"designed":[84],"as":[85],"research":[87],"platform":[88],"for":[89],"intelligent":[90],"robotics.":[92]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2153707232","counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2024-12-17T00:20:04.024790","created_date":"2016-06-24"}