{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T17:00:02Z","timestamp":1778691602555,"version":"3.51.4"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2021,2,22]],"date-time":"2021-02-22T00:00:00Z","timestamp":1613952000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,2,22]],"date-time":"2021-02-22T00:00:00Z","timestamp":1613952000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100004916","name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado do Amazonas","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004916","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,3]]},"DOI":"10.1007\/s10846-020-01304-y","type":"journal-article","created":{"date-parts":[[2021,2,22]],"date-time":"2021-02-22T13:04:14Z","timestamp":1613999054000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Three-Dimensional Mapping with Augmented Navigation Cost through Deep Learning"],"prefix":"10.1007","volume":"101","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5435-0933","authenticated-orcid":false,"given":"Felipe G.","family":"Oliveira","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Armando A.","family":"Neto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Howard","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paulo","family":"Borges","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mario F. M.","family":"Campos","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Douglas G.","family":"Macharet","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,2,22]]},"reference":[{"key":"1304_CR1","doi-asserted-by":"crossref","unstructured":"Nardi, L, Stachniss, C: Actively improving robot navigation on different terrains using Gaussian process mixture models. In: IEEE International Conference on Robotics and Automation (ICRA), p. 03 (2019)","DOI":"10.1109\/ICRA.2019.8794079"},{"key":"1304_CR2","doi-asserted-by":"crossref","unstructured":"Lynch, K., Park, F: Modern Robotics: Mechanics, Planning and Control. Cambridge University Press (2017)","DOI":"10.1017\/9781316661239"},{"issue":"6","key":"1304_CR3","doi-asserted-by":"publisher","first-page":"685","DOI":"10.1177\/0278364908097578","volume":"28","author":"GAS Pereira","year":"2009","unstructured":"Pereira, G.A.S., Pimenta, L.C.A., Fonseca, A.R., de Corr\u00eaa, L.Q., Mesquita, R.C., Chaimowicz, L., de Almeida, D.S.C., Campos, M.F.M.: Robot navigation in multi-terrain outdoor environments. Int. J. Robot. Res. 28(6), 685\u2013700 (2009)","journal-title":"Int. J. Robot. Res."},{"key":"1304_CR4","doi-asserted-by":"crossref","unstructured":"Guerrero, J.A., Jaud, M., Lenain, R., Rouveure, R., Faure \u2018P: Towards lidar-radar based terrain mapping. In: IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), pp 1\u20136 (2015)","DOI":"10.1109\/ARSO.2015.7428208"},{"key":"1304_CR5","unstructured":"Genesio, N., Abuhashim, T., Solari, F., Chessa, M., Natale, L.: Mobility map computations for autonomous navigation using an RGBD senso. arXiv:abs\/1610.01326 (2016)"},{"issue":"5","key":"1304_CR6","doi-asserted-by":"publisher","first-page":"541","DOI":"10.1243\/09544100JAERO813","volume":"225","author":"MAA Atashgah","year":"2011","unstructured":"Atashgah, M.A.A., Malaek, S.M.B.: A simulation environment for path and image generation in an aerial single-camera vision system. Proc. Institut. Mech. Eng. Part G: J. Aerosp. Eng. 225(5), 541\u2013558 (2011). [Online]. Available: https:\/\/doi.org\/10.1243\/09544100JAERO813","journal-title":"Proc. Institut. Mech. Eng. Part G: J. Aerosp. Eng."},{"key":"1304_CR7","doi-asserted-by":"crossref","unstructured":"Oliveira, F.G., Alves Neto, A., Borges, P., Campos, M.F.M., Macharet, D.G.: Augmented vector field navigation cost mapping using inertial sensors. In: 19th International Conference on Advanced Robotics (ICAR), pp. 388\u2013393 (2019)","DOI":"10.1109\/ICAR46387.2019.8981572"},{"key":"1304_CR8","doi-asserted-by":"publisher","unstructured":"Sebastian, B., Ren, H., Ben-Tzvi, P.: Neural network based heterogeneous sensor fusion for robot motion planning. In: IEEE International Conference on Intelligent Robots and Systems (IROS). IEEE. [Online]. Available: https:\/\/doi.org\/10.1109\/iros40897.2019.8967689 (2019)","DOI":"10.1109\/iros40897.2019.8967689"},{"key":"1304_CR9","doi-asserted-by":"crossref","unstructured":"Tang, Y., Cai, J., Chen, M., Yan, X., Xie, Y.: An autonomous exploration algorithm using environment-robot interacted traversability analysis. In: IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 4885\u20134890 (2019)","DOI":"10.1109\/IROS40897.2019.8967940"},{"issue":"2","key":"1304_CR10","doi-asserted-by":"publisher","first-page":"511","DOI":"10.1007\/s10846-018-0851-3","volume":"95","author":"B Sebastian","year":"2018","unstructured":"Sebastian, B., Ben-Tzvi, P.: Physics based path planning for autonomous tracked vehicle in challenging terrain. J. Intell. Robot. Syst. 95(2), 511\u2013526 (2018). [Online]. Available: https:\/\/doi.org\/10.1007\/s10846-018-0851-3","journal-title":"J. Intell. Robot. Syst."},{"key":"1304_CR11","doi-asserted-by":"crossref","unstructured":"Ono, M., Fuchs, T.J., Steffy, A., Maimone, M., Yen, J.: Risk-aware planetary rover operation: Autonomous terrain classification and path planning. In: IEEE Aerospace Conference, pp. 1\u201310 (2015)","DOI":"10.1109\/AERO.2015.7119022"},{"issue":"5\u20136","key":"1304_CR12","first-page":"206","volume":"63","author":"DL Sancho-Pradel","year":"2010","unstructured":"Sancho-Pradel, D.L., Gao, Y.: A survey on terrain assessment techniques for autonomous operation of planetary robots. J. Br. Interplanet. Soc. 63(5\u20136), 206\u2013217 (2010)","journal-title":"J. Br. Interplanet. Soc."},{"key":"1304_CR13","doi-asserted-by":"crossref","unstructured":"Otte, S., Weiss, C., Scherer, T., Zell, A: Recurrent Neural Networks for fast and robust vibration-based ground classification on mobile robots. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 5603\u20135608 (2016)","DOI":"10.1109\/ICRA.2016.7487778"},{"issue":"3\u20134","key":"1304_CR14","doi-asserted-by":"publisher","first-page":"999","DOI":"10.1007\/s10846-018-0932-3","volume":"95","author":"S Ebrahimi","year":"2018","unstructured":"Ebrahimi, S., Mardani, A.: A new contact angle detection method for dynamics estimation of a UGV subject to slipping in rough-terrain. J. Intell. Robot. Syst. 95(3\u20134), 999\u20131019 (2018). [Online]. Available: https:\/\/doi.org\/10.1007\/s10846-018-0932-3","journal-title":"J. Intell. Robot. Syst."},{"key":"1304_CR15","doi-asserted-by":"crossref","unstructured":"Oliveira, F.G., Santos, E.R.S., Alves Neto, A., Campos, M.F.M., Macharet, D.G.: Speed-invariant terrain roughness classification and control based on inertial sensors. In: 2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR), pp. 1\u20136 (2017)","DOI":"10.1109\/SBR-LARS-R.2017.8215332"},{"issue":"3","key":"1304_CR16","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1109\/MVT.2017.2656949","volume":"12","author":"S Wang","year":"2017","unstructured":"Wang, S., Kodagoda, S., Shi, L., Wang, H.: Road-terrain classification for land vehicles: Employing an acceleration-based approach. IEEE Veh. Technol. Mag. 12(3), 34\u201341 (2017)","journal-title":"IEEE Veh. Technol. Mag."},{"key":"1304_CR17","doi-asserted-by":"crossref","unstructured":"Souza, J.R., Marchant, R., Ott, L., Wolf, D.F., Ramos, F: Bayesian optimisation for active perception and smooth navigation. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4081\u20134087 (2014)","DOI":"10.1109\/ICRA.2014.6907452"},{"key":"1304_CR18","doi-asserted-by":"crossref","unstructured":"Tanaka, Y., Ji, Y., Yamashita, A., Asama, H: Fuzzy based traversability analysis for a mobile robot on rough terrain. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 3965\u20133970 (2015)","DOI":"10.1109\/ICRA.2015.7139753"},{"key":"1304_CR19","first-page":"473","volume":"5422","author":"C Ye","year":"2004","unstructured":"Ye, C., Borenstein, J.: T-transformation: Traversability analysis for navigation on rugged terrain. Int. Soc. Opt. Eng. 5422, 473\u2013483, 09 (2004)","journal-title":"Int. Soc. Opt. Eng."},{"issue":"4","key":"1304_CR20","doi-asserted-by":"publisher","first-page":"391","DOI":"10.1002\/rob.20292","volume":"26","author":"D Helmick","year":"2009","unstructured":"Helmick, D., Angelova, A., Matthies, L.: Terrain adaptive navigation for planetary rovers. J. Field Robot. 26(4), 391\u2013410 (2009)","journal-title":"J. Field Robot."},{"key":"1304_CR21","doi-asserted-by":"crossref","unstructured":"Sock, J., Kim, J., Min, J., Kwak, K.: Probabilistic traversability map generation using 3d-lidar and camera. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 5631\u20135637 (2016)","DOI":"10.1109\/ICRA.2016.7487782"},{"key":"1304_CR22","doi-asserted-by":"crossref","unstructured":"Suger, B., Steder, B., Burgard, W: Traversability analysis for mobile robots in outdoor environments: A semi-supervised learning approach based on 3d-lidar data. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 3941\u20133946 (2015)","DOI":"10.1109\/ICRA.2015.7139749"},{"key":"1304_CR23","volume-title":"Springer Handbook of Robotics","author":"B Siciliano","year":"2007","unstructured":"Siciliano, B., Khatib, O.: Springer Handbook of Robotics. Springer, Berlin (2007)"},{"issue":"3\u20134","key":"1304_CR24","doi-asserted-by":"publisher","first-page":"577","DOI":"10.1007\/s10846-014-0087-9","volume":"78","author":"I Parra-Tsunekawa","year":"2014","unstructured":"Parra-Tsunekawa, I., del Solar, J.R., Vallejos, P.: A Kalman-filtering-based approach for improving terrain mapping in off-road autonomous vehicles. J. Intell. Robot. Syst. 78(3\u20134), 577\u2013591 (2014). [Online]. Available: https:\/\/doi.org\/10.1007\/s10846-014-0087-9","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"1304_CR25","doi-asserted-by":"publisher","first-page":"172988141775153","DOI":"10.1177\/1729881417751530","volume":"15","author":"X Meng","year":"2018","unstructured":"Meng, X., Cao, Z., Liang, S., Pang, L., Wang, S., Zhou, C.: A terrain description method for traversability analysis based on elevation grid map. Int. J. Adv. Robot. Syst. 15(1), 172988141775153 (2018). [Online]. Available: https:\/\/doi.org\/10.1177\/1729881417751530","journal-title":"Int. J. Adv. Robot. Syst."},{"issue":"3","key":"1304_CR26","doi-asserted-by":"publisher","first-page":"1140","DOI":"10.3390\/app10031140","volume":"10","author":"JL Mart\u00ednez","year":"2020","unstructured":"Mart\u00ednez, J.L., Mor\u00e1n, M., Morales, J., Robles, A., S\u00e1nchez, M.: Supervised learning of natural-terrain traversability with synthetic 3d laser scans. Appl. Sci. 10(3), 1140 (2020). [Online]. Available: https:\/\/doi.org\/10.3390\/app10031140","journal-title":"Appl. Sci."},{"issue":"5","key":"1304_CR27","doi-asserted-by":"publisher","first-page":"940","DOI":"10.1002\/rob.21700","volume":"34","author":"P Kr\u00fcsi","year":"2017","unstructured":"Kr\u00fcsi, P., Furgale, P., Bosse, M., Siegwart, R.: Driving on point clouds: Motion planning, trajectory optimization, and terrain assessment in generic nonplanar environments. J. Field Robot. 34(5), 940\u2013984 (2017)","journal-title":"J. Field Robot."},{"key":"1304_CR28","doi-asserted-by":"crossref","unstructured":"Pfrunder, A., Borges, P.V.K., Romero, A.R., Catt, G., Elfes, A.: Real-time autonomous ground vehicle navigation in heterogeneous environments using a 3d lidar. In: IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 2601\u20132608 (2017)","DOI":"10.1109\/IROS.2017.8206083"},{"issue":"2","key":"1304_CR29","doi-asserted-by":"publisher","first-page":"239","DOI":"10.1109\/34.121791","volume":"14","author":"PJ Besl","year":"1992","unstructured":"Besl, P.J., McKay, N.D.: A method for registration of 3-d shapes. IEEE Trans. Pattern Anal. Mach. Intell. 14(2), 239\u2013256 (1992)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"1304_CR30","doi-asserted-by":"crossref","unstructured":"Rao, K.R., Kim, D.N., Hwang, J.-J.: Fast Fourier Transform - Algorithms and Applications, 1st edn. Springer Publishing Company Incorporated (2010)","DOI":"10.1007\/978-1-4020-6629-0_8"},{"issue":"4","key":"1304_CR31","doi-asserted-by":"publisher","first-page":"337","DOI":"10.1007\/s10514-007-9077-0","volume":"24","author":"EM DuPont","year":"2008","unstructured":"DuPont, E.M., Moore, C.A., Collins, E.G., Coyle, E.: Frequency response method for terrain classification in autonomous ground vehicles. Auton. Robot. 24(4), 337\u2013347 (2008)","journal-title":"Auton. Robot."},{"key":"1304_CR32","unstructured":"Murphy, K.P: Machine Learning: A Probabilistic Perspective. The MIT Press (2012)"},{"key":"1304_CR33","unstructured":"Otte, S., Laible, S., Hanten, R., Zell, A.: Robust visual terrain classification with recurrent neural networks. European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, 01 (2015)"},{"issue":"11","key":"1304_CR34","doi-asserted-by":"publisher","first-page":"2933","DOI":"10.1109\/TSMC.2016.2531700","volume":"47","author":"A Dutta","year":"2017","unstructured":"Dutta, A., Dasgupta, P: Ensemble learning with weak classifiers for fast and reliable unknown terrain classification using mobile robots. IEEE Trans. Syst. Man Cybern.: Syst. 47(11), 2933\u20132944 (2017)","journal-title":"IEEE Trans. Syst. Man Cybern.: Syst."},{"issue":"3","key":"1304_CR35","doi-asserted-by":"publisher","first-page":"1140","DOI":"10.3390\/app10031140","volume":"10","author":"JL Mart\u00ednez","year":"2020","unstructured":"Mart\u00ednez, J.L., Mor\u00e1n, M., Morales, J., Robles, A., S\u00e1nchez, M.: Supervised learning of natural-terrain traversability with synthetic 3d laser scans. Appl. Sci 10(3), 1140 (2020). [Online]. Available: https:\/\/doi.org\/10.3390\/app10031140","journal-title":"Appl. Sci"},{"key":"1304_CR36","doi-asserted-by":"crossref","unstructured":"Guo, X., Blaise, B., Molnar, J., Coholich, J., Padte, S., Zhao, Y., Hammond, F.L.: Soft foot sensor design and terrain classification for dynamic legged locomotion. In: 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), pp. 550\u2013557 (2020)","DOI":"10.1109\/RoboSoft48309.2020.9115990"},{"issue":"5","key":"1304_CR37","doi-asserted-by":"publisher","first-page":"1137","DOI":"10.3390\/s19051137","volume":"19","author":"M Mei","year":"2019","unstructured":"Mei, M., Chang, J., Li, Y., Li, Z., Li, X., Lv, W.: Comparative study of different methods in vibration-based terrain classification for wheeled robots with shock absorbers. Sensors 19(5), 1137 (2019). [Online]. Available: https:\/\/doi.org\/10.3390\/s19051137","journal-title":"Sensors"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01304-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-020-01304-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01304-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,24]],"date-time":"2024-08-24T17:06:57Z","timestamp":1724519217000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-020-01304-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,2,22]]},"references-count":37,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2021,3]]}},"alternative-id":["1304"],"URL":"https:\/\/doi.org\/10.1007\/s10846-020-01304-y","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,2,22]]},"assertion":[{"value":"1 July 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 December 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 February 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with Ethical Standards"}},{"value":"The authors declare that there is no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Conflict of Interests"}}],"article-number":"50"}}