{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,4,29]],"date-time":"2024-04-29T21:08:56Z","timestamp":1714424936669},"reference-count":58,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2013,11,24]],"date-time":"2013-11-24T00:00:00Z","timestamp":1385251200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2014,8]]},"DOI":"10.1007\/s10846-013-9997-1","type":"journal-article","created":{"date-parts":[[2013,11,23]],"date-time":"2013-11-23T01:51:25Z","timestamp":1385171485000},"page":"313-330","source":"Crossref","is-referenced-by-count":3,"title":["Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane"],"prefix":"10.1007","volume":"75","author":[{"given":"Nuria","family":"Ortigosa","sequence":"first","affiliation":[]},{"given":"Samuel","family":"Morillas","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2013,11,24]]},"reference":[{"issue":"12","key":"9997_CR1","doi-asserted-by":"crossref","first-page":"4028","DOI":"10.1016\/j.patcog.2010.06.012","volume":"43","author":"L Cai","year":"2010","unstructured":"Cai, L., He, L., Xu, Y., Zhao, Y., Yang, X.: Multi-object detection and tracking by stereovision. Pattern Recognit. 43(12), 4028\u20134041 (2010)","journal-title":"Pattern Recognit."},{"key":"9997_CR2","doi-asserted-by":"crossref","unstructured":"Hikosaka, N., Watanabe, K., Umeda, K.: Obstacle detection of a humanoid on a plane using a relative disparity map obtained by a small range image sensor. In: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, pp. 3048\u20133053 (2007)","DOI":"10.1109\/ROBOT.2007.363935"},{"key":"9997_CR3","doi-asserted-by":"crossref","unstructured":"Benenson, R., Mathias, M., Timofte, R., Van Gool, L.: Fast stixel computation for fast pedestrian detection. In: ECCV, CVVT workshop, October (2012)","DOI":"10.1007\/978-3-642-33885-4_2"},{"issue":"14","key":"9997_CR4","doi-asserted-by":"crossref","first-page":"2322","DOI":"10.1155\/ASP.2005.2322","volume":"2005","author":"Y Huang","year":"2005","unstructured":"Huang, Y., Fu, S., Thompson, C.: Stereovision-based object segmentation for automotive applications. EURASIP J. Appl. Signal Process. 2005(14), 2322\u20132329 (2005)","journal-title":"EURASIP J. Appl. Signal Process."},{"key":"9997_CR5","doi-asserted-by":"crossref","unstructured":"Duan, B.B., Liu, W., Fu, P.Y., Yang, C.Y., Wen, X.Z., Yuan, H.: Real-time on-road vehicle and motorcycle detection using a single camera. In: IEEE International Conference on Industrial Technology, pp. 579\u2013584. IEEE (2009)","DOI":"10.1109\/ICIT.2009.4939585"},{"key":"9997_CR6","doi-asserted-by":"crossref","unstructured":"Oliveira L, Nunes, U.: On integration of features and classifiers for robust vehicle detection. In: IEEE International Conference on Intelligent Transportation Systems, pp. 414\u2013419. IEEE (2008)","DOI":"10.1109\/ITSC.2008.4732545"},{"issue":"5","key":"9997_CR7","doi-asserted-by":"crossref","first-page":"694","DOI":"10.1109\/TPAMI.2006.104","volume":"28","author":"Z Sun","year":"2006","unstructured":"Sun, Z., Bebis, G., Miller, R.: On-road vehicle detection: A review. IEEE Trans. Pattern Anal. Mach. Intell. 28(5), 694\u2013711 (2006)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"1","key":"9997_CR8","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1117\/12.441696","volume":"4555","author":"HJ Sun","year":"2001","unstructured":"Sun, H.J., Yang, J.Y.: Obstacle detection for mobile vehicle using neural network and fuzzy logic. Neural Netw. Distrib. Process. 4555(1), 99\u2013104 (2001)","journal-title":"Neural Netw. Distrib. Process."},{"issue":"3","key":"9997_CR9","doi-asserted-by":"crossref","first-page":"333","DOI":"10.1007\/s10846-007-9190-5","volume":"51","author":"NB Hui","year":"2008","unstructured":"Hui, N.B., Pratihar, D.K.: Soft computing-based navigation schemes for a real wheeled robot moving among static obstacles. J. Intell. Robot. Syst. 51(3), 333\u2013368 (2008)","journal-title":"J. Intell. Robot. Syst."},{"key":"9997_CR10","doi-asserted-by":"crossref","unstructured":"Menon, A., Akmeliawati, R., Demidenko, S.: Towards a simple mobile robot with obstacle avoidance and target seeking capabilities using fuzzy logic. In: Proceedings IEEE Instrumentation and Measurement Technology Conference, vol. 1\u20135, pp. 1003\u20131008 (2008)","DOI":"10.1109\/IMTC.2008.4547183"},{"issue":"1","key":"9997_CR11","doi-asserted-by":"crossref","first-page":"318","DOI":"10.1016\/j.asoc.2009.08.002","volume":"10","author":"J Moreno-Garcia","year":"2010","unstructured":"Moreno-Garcia, J., Rodriguez-Benitez, L., Fernandez-Caballero, A., Lopez, M.T.: Video sequence motion tracking by fuzzification techniques. Appl. Soft Comput. 10(1), 318\u2013331 (2010)","journal-title":"Appl. Soft Comput."},{"issue":"1","key":"9997_CR12","first-page":"4775","volume":"2007","author":"TH Nguyen","year":"2007","unstructured":"Nguyen, T.H., Nguyen, J.S., Pham, D.M., Nguyen, H.T.: Real-time obstacle detection for an autonomous wheelchair using stereoscopic cameras. Conf. Proc. IEEE Eng. Med. Biol. Soc. 2007(1), 4775\u20134778 (2007)","journal-title":"Conf. Proc. IEEE Eng. Med. Biol. Soc."},{"key":"9997_CR13","doi-asserted-by":"crossref","unstructured":"Nguyen, J.S., Nguyen, T.H., Nguyen, H.T.: Semi-autonomous wheelchair system using stereoscopic cameras. In: Annual International Conference of the IEEE Engineering in Medicine and Biology Society, vol. 1\u201320, pp. 5068\u20135071 (2009)","DOI":"10.1109\/IEMBS.2009.5334266"},{"issue":"9","key":"9997_CR14","doi-asserted-by":"crossref","first-page":"868","DOI":"10.1109\/34.406652","volume":"17","author":"E Grosso","year":"1995","unstructured":"Grosso, E., Tistarelli, M.: Active\/dynamic stereo vision. IEEE Trans. Pattern Anal. Mach. Intell. 17(9), 868\u2013879 (1995)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"9997_CR15","doi-asserted-by":"crossref","unstructured":"Kubota, S., Nakano, T., Okamoto, Y.: A global optimization for real-time on-board stereo obstacle detection systems. In: IEEE Intelligent Vehicles Symposium, pp. 7\u201312. IEEE (2007)","DOI":"10.1109\/IVS.2007.4290083"},{"issue":"2","key":"9997_CR16","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1142\/S0218488512500122","volume":"20","author":"N Ortigosa","year":"2012","unstructured":"Ortigosa, N., Morillas, S., Peris-Fajarn\u00e9s, G., Dunai, L.: Fuzzy free path detection based on dense disparity maps obtained from stereo cameras. Int. J. Uncertain. Fuzziness Knowl.-Based Syst. 20(2), 245\u2013259 (2012)","journal-title":"Int. J. Uncertain. Fuzziness Knowl.-Based Syst."},{"issue":"2","key":"9997_CR17","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1023\/A:1008987612352","volume":"8","author":"D Murray","year":"2000","unstructured":"Murray, D., Little, J.J.: Using real-time stereo vision for mobile robot navigation. Auton. Robot. 8(2), 161\u2013171 (2000)","journal-title":"Auton. Robot."},{"key":"9997_CR18","doi-asserted-by":"crossref","unstructured":"Badino, H., Mester, R., Vaudrey, T., Franke, U.: Stereo-based free space computation in complex traffic scenarios. In: IEEE Southwest Symposium on Image Analysis & Interpretation, pp. 189\u2013192 (2008)","DOI":"10.1109\/SSIAI.2008.4512317"},{"key":"9997_CR19","unstructured":"Hoilund, C., Moeslund, T.B., Madsen, C.L., Trivedi, M.M.: Free space computation from stochastic occupancy grids based on iconic kalman filtered disparity maps. In: Proceedings International Conference on Computer Vision Theory and Applications, vol. 1, pp. 164\u2013167 (2010)"},{"key":"9997_CR20","unstructured":"Franke, U., Joos, A.: Real-time stereo vision for urban traffic scene understanding. In: IEEE Intelligent Vehicles Symposium, pp. 273\u2013278. IEEE (2000)"},{"issue":"4","key":"9997_CR21","doi-asserted-by":"crossref","first-page":"572","DOI":"10.1109\/TITS.2009.2027223","volume":"10","author":"A Wedel","year":"2009","unstructured":"Wedel, A., Badino, H., Rabe, C., Loose, H., Franke, U., Cremers, D.: B-spline modeling of road surfaces with an application to free-space estimation. IEEE Trans. Intell. Transp. Syst. 10(4), 572\u2013583 (2009)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"1","key":"9997_CR22","doi-asserted-by":"crossref","first-page":"5","DOI":"10.1007\/s00138-002-0097-7","volume":"14","author":"M Vergauwen","year":"2003","unstructured":"Vergauwen, M., Pollefeys, M., Van Gool, L.: A stereo-vision system for support of planetary surface exploration. Mach. Vis. Appl. 14(1), 5\u201314 (2003)","journal-title":"Mach. Vis. Appl."},{"key":"9997_CR23","doi-asserted-by":"crossref","unstructured":"Tarel, J.P., Leng, S.S., Charbonnier, P.: Accurate and robust image alignment for road profile reconstruction. In: IEEE International Conference on Image Processing, pp. 365\u2013368. IEEE (2007)","DOI":"10.1109\/ICIP.2007.4379841"},{"key":"9997_CR24","doi-asserted-by":"crossref","unstructured":"Kostavelis, I., Gasteratos, A.: Stereovision-based algorithm for obstacle avoidance. In: Lecture Notes in Computer Science, pp. 195\u2013204. Intelligent Robotics and Applications (2009)","DOI":"10.1007\/978-3-642-10817-4_19"},{"key":"9997_CR25","unstructured":"Cerri, P., Grisleri, P.: Free space detection on highways using time correlation between stabilized sub-pixel precision ipm images. In: IEEE International Conference on Robotics and Automation, pp. 2223\u20132228. IEEE (2005)"},{"key":"9997_CR26","unstructured":"Labayrade, R., Aubert, D., Tarel, J.P.: Real time obstacle detection in stereo vision on non-flat road geometry through v-disparity representation. In: IEEE Intelligent Vehicle Symposium, pp. 646\u2013651. INRIA (2002)"},{"key":"9997_CR27","unstructured":"Ortigosa, N., Morillas, S., Peris-Fajarn\u00e9s, G., Dunai, L.: Disparity maps for free path detection. In: Proceedings International Conference on Computer Vision Theory and Applications, vol. 1, pp. 310\u2013315 (2010)"},{"issue":"1","key":"9997_CR28","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1007\/s10846-010-9498-4","volume":"63","author":"N Ortigosa","year":"2011","unstructured":"Ortigosa, N., Morillas, S., Peris-Fajarn\u00e9s, G.: Obstacle-free pathway detection by means of depth maps. J. Intell. Robot. Syst. 63(1), 115\u2013129 (2011)","journal-title":"J. Intell. Robot. Syst."},{"key":"9997_CR29","unstructured":"http:\/\/www.casblip.com"},{"key":"9997_CR30","doi-asserted-by":"crossref","first-page":"963964","DOI":"10.1038\/221963a0","volume":"221","author":"P Bach y Rita","year":"1969","unstructured":"Bach y Rita, P., Collins, C., Sauders, B., White, B., Scadden, L.: Vision substitution by tactile image projection. Nature 221, 963964 (1969)","journal-title":"Nature"},{"key":"9997_CR31","doi-asserted-by":"crossref","first-page":"204207","DOI":"10.1016\/S0006-8993(01)02667-1","volume":"908","author":"E Sampaio","year":"2001","unstructured":"Sampaio, E., Maris, S., Bach y Rita, P.: Brain plasticity: visual acuity of blind persons via the tongue. Brain Res. 908, 204207 (2001)","journal-title":"Brain Res."},{"key":"9997_CR32","unstructured":"http:\/\/www.seeingwithsound.com"},{"key":"9997_CR33","doi-asserted-by":"crossref","first-page":"12791293","DOI":"10.1109\/10.720206","volume":"45","author":"C Capelle","year":"1998","unstructured":"Capelle, C., Trullemans, C., Arno, P., Veraart, C.: A real-time experimental prototype for enhancement of vision rehabilitation using auditory substitution. IEEE Trans. Biomed. Eng. 45, 12791293 (1998)","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"9997_CR34","first-page":"11711186","volume":"22","author":"SW Lee","year":"2008","unstructured":"Lee, S.W., Kang, S.K., Lee, S.A.: A walking guidance system for the visually impaired. Int. J. Pattern Recognit. 22, 11711186 (2008)","journal-title":"Int. J. Pattern Recognit."},{"key":"9997_CR35","doi-asserted-by":"crossref","first-page":"549","DOI":"10.1016\/j.patrec.2010.11.019","volume":"32","author":"CL Chen","year":"2011","unstructured":"Chen, C.L., Liao, Y.F., Tai, C.L.: Image-to-midi mapping based on dynamic fuzzy color segmentation for visually impaired people. Pattern Recognit. Lett. 32, 549\u2013560 (2011)","journal-title":"Pattern Recognit. Lett."},{"key":"9997_CR36","unstructured":"Lombardi, P., Zanin, M., Messelodi, S.: Unified stereovision for ground, road, and obstacle detection. In: Proceedings on the Intelligent Vehicles Symposium, 2005, pp. 783\u2013788. IEEE (2005)"},{"key":"9997_CR37","unstructured":"Yu, Q., Araujo, H., Wang, H.: Stereo-vision based real time obstacle detection for urban environments. In: Proceedings on the International Conference of Advanced Robotics, vol. 1, pp. 1671\u20131676 (2003)"},{"key":"9997_CR38","doi-asserted-by":"crossref","unstructured":"Benenson, R., Timofte, R., Van Gool, L.: Stixels estimation without depth map computation. In: ICCV, CVVT workshop (2011)","DOI":"10.1109\/ICCVW.2011.6130495"},{"key":"9997_CR39","unstructured":"Li, X., Yao, X., Murphey, Y.L., Karlsen, R., Gerhart, G.: A real-time vehicle detection and tracking system in outdoor traffic scenes. In: Pattern Recognition, 2004. ICPR 2004. Proceedings of the 17th International Conference on, vol. 2, pp. 761\u2013764 (2004)"},{"issue":"11","key":"9997_CR40","doi-asserted-by":"crossref","first-page":"1330","DOI":"10.1109\/34.888718","volume":"22","author":"ZY Zhang","year":"2000","unstructured":"Zhang, Z.Y.: A flexible new technique for camera calibration. IEEE Trans. Pattern Anal. Mach. Intell. 22(11), 1330\u20131334 (2000)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"9997_CR41","doi-asserted-by":"crossref","first-page":"1489","DOI":"10.1109\/21.44067","volume":"19","author":"UR Dhond","year":"1989","unstructured":"Dhond, U.R., Aggarwal, J.K.: Structure from stereo: a review. IEEE Trans. Syst. Man Cybern. 19, 1489\u20131510 (1989)","journal-title":"IEEE Trans. Syst. Man Cybern."},{"issue":"1\/2\/3","key":"9997_CR42","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1023\/A:1014573219977","volume":"47","author":"D Scharstein","year":"2002","unstructured":"Scharstein, D., Szeliski, R.: A taxonomy and evaluation of dense two-frame stereo correspondence algorithms. Int. J. Comput. Vis. 47(1\/2\/3), 7\u201342 (2002)","journal-title":"Int. J. Comput. Vis."},{"key":"9997_CR43","unstructured":"Middlebury Stereo Vision Page. http:\/\/vision.middlebury.edu\/stereo\/"},{"issue":"3","key":"9997_CR44","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1023\/A:1008160311296","volume":"17","author":"S Birchfield","year":"1999","unstructured":"Birchfield, S., Tomasi, C.: Depth discontinuities by pixel-to-pixel stereo. Int. J. Comput. Vis. 17(3), 269\u2013293 (1999)","journal-title":"Int. J. Comput. Vis."},{"issue":"1","key":"9997_CR45","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1007\/s11263-006-0018-8","volume":"75","author":"C Lawrence Zitnick","year":"2007","unstructured":"Lawrence Zitnick, C., Bing Kang, S.: Stereo for image-based rendering using image over-segmentation. Int. J. Comput. Vis. 75(1), 49\u201365 (2007)","journal-title":"Int. J. Comput. Vis."},{"issue":"1","key":"9997_CR46","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1007\/s11263-006-7899-4","volume":"70","author":"PF Felzenszwalb","year":"2006","unstructured":"Felzenszwalb, P.F., Huttenlocher, D.P.: Efficient belief propagation for early vision. Int. J. Comput. Vis. 70(1), 41\u201354 (2006)","journal-title":"Int. J. Comput. Vis."},{"issue":"3","key":"9997_CR47","doi-asserted-by":"crossref","first-page":"492","DOI":"10.1109\/TPAMI.2008.99","volume":"31","author":"Q Yang","year":"2009","unstructured":"Yang, Q., Wang, L., Yang, R., Stewnius, H., Nistr, D.: Stereo matching with color-weighted correlation, hierarchical belief propagation, and occlusion handling. IEEE Trans. Pattern Anal. Mach. Intell. 31(3), 492\u2013504 (2009)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"9997_CR48","doi-asserted-by":"crossref","first-page":"134","DOI":"10.1007\/978-3-642-04667-4_14","volume":"5815\/2009","author":"S Gehrig","year":"2009","unstructured":"Gehrig, S., Eberli, F., Meyer, T.: A real-time low-power stereo vision engine using semi-global matching. Lect. Notes Comput. Sci. 5815\/2009, 134\u2013143 (2009)","journal-title":"Lect. Notes Comput. Sci."},{"key":"9997_CR49","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1007\/s11263-010-0404-0","volume":"95","author":"A Wedel","year":"2011","unstructured":"Wedel, A., Brox, T., Vaudrey, T., Rabe, C., Franke, U., Cremers, D.: Stereoscopic scene flow computation for 3d motion understanding. Int. J. Comput. Vis. 95, 29\u201351 (2011)","journal-title":"Int. J. Comput. Vis."},{"issue":"2","key":"9997_CR50","doi-asserted-by":"crossref","first-page":"328","DOI":"10.1109\/TPAMI.2007.1166","volume":"30","author":"H Hirschmuller","year":"2008","unstructured":"Hirschmuller, H.: Stereo processing by semiglobal matching and mutual information. IEEE Trans. Pattern Anal. Mach. Intell. 30(2), 328\u2013341 (2008)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"10","key":"9997_CR51","doi-asserted-by":"crossref","first-page":"1371","DOI":"10.1016\/j.imavis.2007.11.013","volume":"26","author":"C Leung","year":"2008","unstructured":"Leung, C., Appleton, B., Sun, C.: Iterated dynamic programming and quadtree subregioning for fast stereo matching. Image Vis. Comput. 26(10), 1371\u20131383 (2008)","journal-title":"Image Vis. Comput."},{"key":"9997_CR52","doi-asserted-by":"crossref","unstructured":"Hartley, R.I., Zisserman, A.: Multiple view geometry in computer vision, 2nd edn. Cambridge University Press, ISBN: 0521540518 (2004)","DOI":"10.1017\/CBO9780511811685"},{"key":"9997_CR53","unstructured":"Spiegel, M.R., Stepthens, L.J.: Statistics, 4th edn. Mc Graw Hill (2008)"},{"key":"9997_CR54","unstructured":"Kerre, E.E.: Fuzzy sets and approximate reasoning. Xian Jiaotong University Press (1998)"},{"key":"9997_CR55","volume-title":"Fuzzy sets and systems: theory and applications","author":"D Dubois","year":"1980","unstructured":"Dubois, D., Prade, H.: Fuzzy sets and systems: theory and applications. Academic Press, New York (1980)"},{"issue":"2","key":"9997_CR56","doi-asserted-by":"crossref","first-page":"404","DOI":"10.1109\/21.52551","volume":"20","author":"CC Lee","year":"1990","unstructured":"Lee, C.C.: Fuzzy logic in control systems: Fuzzy logic controller-parts 1 and 2. IEEE Trans. Syst. Man Cybern. 20(2), 404\u2013435 (1990)","journal-title":"IEEE Trans. Syst. Man Cybern."},{"issue":"2","key":"9997_CR57","doi-asserted-by":"crossref","first-page":"141","DOI":"10.1016\/0165-0114(93)90153-9","volume":"57","author":"JC Fodor","year":"1993","unstructured":"Fodor, J.C.: A new look at fuzzy-connectives. Fuzzy Sets Syst. 57(2), 141\u2013148 (1993)","journal-title":"Fuzzy Sets Syst."},{"issue":"6","key":"9997_CR58","doi-asserted-by":"crossref","first-page":"940","DOI":"10.1016\/j.imavis.2009.11.011","volume":"28","author":"L Nalpantidis","year":"2010","unstructured":"Nalpantidis, L., Gasteratos, A.: Stereo vision for robotic applications in the presence of non-ideal lightning conditions. Image Vis. Comput. 28(6), 940\u2013951 (2010)","journal-title":"Image Vis. Comput."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9997-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-013-9997-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9997-1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,3]],"date-time":"2019-08-03T20:47:12Z","timestamp":1564865232000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-013-9997-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,11,24]]},"references-count":58,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2014,8]]}},"alternative-id":["9997"],"URL":"https:\/\/doi.org\/10.1007\/s10846-013-9997-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,11,24]]}}}