{"id":"https://openalex.org/W3094617751","doi":"https://doi.org/10.1109/tvcg.2020.3030350","title":"VATLD: A Visual Analytics System to Assess, Understand and Improve Traffic Light Detection","display_name":"VATLD: A Visual Analytics System to Assess, Understand and Improve Traffic Light Detection","publication_year":2020,"publication_date":"2020-10-21","ids":{"openalex":"https://openalex.org/W3094617751","doi":"https://doi.org/10.1109/tvcg.2020.3030350","mag":"3094617751","pmid":"https://pubmed.ncbi.nlm.nih.gov/33079663"},"language":"en","primary_location":{"id":"doi:10.1109/tvcg.2020.3030350","doi":"https://doi.org/10.1109/tvcg.2020.3030350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvcg.2020.3030350","pdf_url":null,"source":{"id":"https://openalex.org/S84775595","display_name":"IEEE Transactions on Visualization and Computer Graphics","issn_l":"1077-2626","issn":["1077-2626","1941-0506","2160-9306"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-a","cwts-core","dongbi-a","doyens","jufo-3","medline","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Visualization and Computer Graphics","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["arxiv","crossref","datacite","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2009.12975","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103084682","display_name":"Liang Gou","orcid":"https://orcid.org/0009-0006-9138-3351","observed_orcids":["https://orcid.org/0009-0006-9138-3351"]},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liang Gou","raw_affiliation_strings":["Robert Bosch Research and Technology Center, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch Research and Technology Center, USA","institution_ids":["https://openalex.org/I4210120115"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013752660","display_name":"Lincan Zou","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lincan Zou","raw_affiliation_strings":["Robert Bosch Research and Technology Center, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch Research and Technology Center, USA","institution_ids":["https://openalex.org/I4210120115"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068935138","display_name":"Nanxiang Li","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nanxiang Li","raw_affiliation_strings":["Robert Bosch Research and Technology Center, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch Research and Technology Center, USA","institution_ids":["https://openalex.org/I4210120115"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Michael Hofmann","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Hofmann","raw_affiliation_strings":["Robert Bosch GmbH, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041828460","display_name":"Arvind Kumar Shekar","orcid":"https://orcid.org/0000-0002-5853-5310","observed_orcids":["https://orcid.org/0000-0002-5853-5310"]},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arvind Kumar Shekar","raw_affiliation_strings":["Robert Bosch GmbH, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065102984","display_name":"Axel Wendt","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Axel Wendt","raw_affiliation_strings":["Robert Bosch GmbH, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103725392","display_name":"Liu Ren","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liu Ren","raw_affiliation_strings":["Robert Bosch Research and Technology Center, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch Research and Technology Center, USA","institution_ids":["https://openalex.org/I4210120115"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":6.9226,"has_fulltext":true,"cited_by_count":78,"citation_normalized_percentile":{"value":0.97317641,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"27","issue":"2","first_page":"261","last_page":"271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10799","display_name":"Data Visualization and Analytics","score":0.8276000022888184,"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"}},"topics":[{"id":"https://openalex.org/T10799","display_name":"Data Visualization and Analytics","score":0.8276000022888184,"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"}},{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.06970000267028809,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.026200000196695328,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/traffic-light-detection","display_name":"traffic light detection","score":0.9980000257492065},{"id":"https://openalex.org/keywords/visual-analytics","display_name":"visual analytics","score":0.906000018119812},{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.9750000238418579},{"id":"https://openalex.org/keywords/disentangled-representation-learning","display_name":"disentangled representation learning","score":0.9409999847412109},{"id":"https://openalex.org/keywords/robustness-analysis","display_name":"robustness analysis","score":0.722000002861023},{"id":"https://openalex.org/keywords/interpretability","display_name":"interpretability","score":0.6779999732971191},{"id":"https://openalex.org/keywords/visual-summarization","display_name":"visual summarization","score":0.8130000233650208},{"id":"https://openalex.org/keywords/safety-critical-systems","display_name":"safety-critical systems","score":0.6510000228881836},{"id":"https://openalex.org/keywords/object-detection","display_name":"object detection","score":0.38600000739097595}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.829020619392395},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7214975953102112},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6159648895263672},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6086217761039734},{"id":"https://openalex.org/C79158427","wikidata":"https://www.wikidata.org/wiki/Q485396","display_name":"Analytics","level":2,"score":0.604991614818573},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.6006541848182678},{"id":"https://openalex.org/C59732488","wikidata":"https://www.wikidata.org/wiki/Q2528440","display_name":"Visual analytics","level":3,"score":0.596636950969696},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5657120943069458},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5219889879226685},{"id":"https://openalex.org/C170858558","wikidata":"https://www.wikidata.org/wiki/Q1394144","display_name":"Automatic summarization","level":2,"score":0.5154317617416382},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.48240387439727783},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.44867444038391113},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44472184777259827},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.28192082047462463},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tvcg.2020.3030350","doi":"https://doi.org/10.1109/tvcg.2020.3030350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvcg.2020.3030350","pdf_url":null,"source":{"id":"https://openalex.org/S84775595","display_name":"IEEE Transactions on Visualization and Computer Graphics","issn_l":"1077-2626","issn":["1077-2626","1941-0506","2160-9306"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-a","cwts-core","dongbi-a","doyens","jufo-3","medline","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Visualization and Computer Graphics","raw_type":"journal-article"},{"id":"pmid:33079663","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33079663","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on visualization and computer graphics","raw_type":"Journal Article"},{"id":"pmh:oai:arXiv.org:2009.12975","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.12975","pdf_url":"https://arxiv.org/pdf/2009.12975","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2009.12975","doi":"https://doi.org/10.48550/arxiv.2009.12975","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2009.12975","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2009.12975","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.12975","pdf_url":"https://arxiv.org/pdf/2009.12975","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3094617751.pdf","grobid_xml":"https://content.openalex.org/works/W3094617751.grobid-xml"},"referenced_works_count":52,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1483870316","https://openalex.org/W1493315108","https://openalex.org/W1536680647","https://openalex.org/W1550245517","https://openalex.org/W1673923490","https://openalex.org/W1832500336","https://openalex.org/W1861492603","https://openalex.org/W1945616565","https://openalex.org/W2016381774","https://openalex.org/W2021383150","https://openalex.org/W2080873731","https://openalex.org/W2082290707","https://openalex.org/W2102605133","https://openalex.org/W2151965738","https://openalex.org/W2161078926","https://openalex.org/W2193145675","https://openalex.org/W2194775991","https://openalex.org/W2282821441","https://openalex.org/W2343061342","https://openalex.org/W2460937040","https://openalex.org/W2528578439","https://openalex.org/W2560023338","https://openalex.org/W2587299461","https://openalex.org/W2610018085","https://openalex.org/W2612445135","https://openalex.org/W2640329709","https://openalex.org/W2737202447","https://openalex.org/W2751746637","https://openalex.org/W2767656849","https://openalex.org/W2772689190","https://openalex.org/W2798801120","https://openalex.org/W2807692250","https://openalex.org/W2883424428","https://openalex.org/W2884561390","https://openalex.org/W2890883923","https://openalex.org/W2892051885","https://openalex.org/W2921712231","https://openalex.org/W2943646750","https://openalex.org/W2953711573","https://openalex.org/W2963207607","https://openalex.org/W2963374347","https://openalex.org/W2963707011","https://openalex.org/W2964253222","https://openalex.org/W2964256412","https://openalex.org/W3007384386","https://openalex.org/W3013160799","https://openalex.org/W3021138682","https://openalex.org/W3106250896","https://openalex.org/W3108010663","https://openalex.org/W3187541268","https://openalex.org/W6682262322"],"related_works":["https://openalex.org/W2908896109","https://openalex.org/W2903632709","https://openalex.org/W3046532431","https://openalex.org/W6894161801","https://openalex.org/W4367670095","https://openalex.org/W3034268171","https://openalex.org/W3202567403","https://openalex.org/W4385326070","https://openalex.org/W3012025033","https://openalex.org/W2739574231"],"abstract_inverted_index":{"Traffic":[0],"light":[1,86],"detection":[2],"is":[3,36],"crucial":[4],"for":[5,122,150],"environment":[6],"perception":[7],"and":[8,23,45,71,78,82,107,117,145],"decision-making":[9],"in":[10,88,153],"autonomous":[11,53,89,154],"driving.":[12,155],"State-of-the-art":[13],"detectors":[14,35,87],"are":[15],"built":[16],"upon":[17],"deep":[18],"Convolutional":[19],"Neural":[20],"Networks":[21],"(CNNs)":[22],"have":[24],"exhibited":[25],"promising":[26],"performance.":[27],"However,":[28],"one":[29],"looming":[30],"concern":[31],"with":[32,66,103,139],"CNN":[33],"based":[34],"how":[37],"to":[38,52,75,99],"thoroughly":[39],"evaluate":[40],"the":[41,80,108,128],"performance":[42,132],"of":[43,84,130],"accuracy":[44,81],"robustness":[46,83,115],"before":[47],"they":[48],"can":[49],"be":[50],"deployed":[51],"vehicles.":[54],"In":[55],"this":[56],"work,":[57],"we":[58],"propose":[59],"a":[60,67],"visual":[61,105,141],"analytics":[62,142],"system,":[63,143],"VATLD,":[64,144],"equipped":[65],"disentangled":[68,93],"representation":[69,94],"learning":[70,95,111],"semantic":[72,109],"adversarial":[73,110],"learning,":[74],"assess,":[76],"understand,":[77],"improve":[79],"traffic":[85],"driving":[90],"applications.":[91],"The":[92],"extracts":[96],"data":[97],"semantics":[98],"augment":[100],"human":[101,120],"cognition":[102],"human-friendly":[104],"summarization,":[106],"efficiently":[112],"exposes":[113],"interpretable":[114],"risks":[116],"enables":[118],"minimal":[119],"interaction":[121],"actionable":[123,137],"insights.":[124],"We":[125],"also":[126],"demonstrate":[127],"effectiveness":[129],"various":[131],"improvement":[133],"strategies":[134],"derived":[135],"from":[136],"insights":[138],"our":[140],"illustrate":[146],"some":[147],"practical":[148],"implications":[149],"safety-critical":[151],"applications":[152]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":27},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":12}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2020-10-29T00:00:00"}