{"id":"https://openalex.org/W7204851964","doi":"https://doi.org/10.1109/jsen.2026.3727559","title":"Reliability-Guided RGB-D Sensor Fusion for Glare-Resilient Navigation Costmaps","display_name":"Reliability-Guided RGB-D Sensor Fusion for Glare-Resilient Navigation Costmaps","publication_year":2026,"publication_date":"2026-08-31","ids":{"openalex":"https://openalex.org/W7204851964","doi":"https://doi.org/10.1109/jsen.2026.3727559"},"language":"en","primary_location":{"id":"doi:10.1109/jsen.2026.3727559","doi":"https://doi.org/10.1109/jsen.2026.3727559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2026.3727559","pdf_url":null,"source":{"id":"https://openalex.org/S189694085","display_name":"IEEE Sensors Journal","issn_l":"1530-437X","issn":["1530-437X","1558-1748","2379-9153"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-2","ki-jl-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310321027","host_organization_name":"IEEE Sensors Council","host_organization_lineage":["https://openalex.org/P4310321027","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Sensors Council","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 Sensors Journal","raw_type":"journal-article"},"parent_works":[],"lineage":["https://openalex.org/W7204851964"],"child_works_count":0,"type":"article","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2604.12753","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038915638","display_name":"Shang-En Tsai","orcid":"https://orcid.org/0000-0001-5946-6970","observed_orcids":["https://orcid.org/0000-0001-5946-6970"]},"institutions":[{"id":"https://openalex.org/I80327900","display_name":"Chang Jung Christian University","ror":"https://ror.org/02s3d7j94","country_code":"TW","type":"education","lineage":["https://openalex.org/I80327900"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Shang-En Tsai","raw_affiliation_strings":["Chang Jung Christian University"],"raw_orcid":"https://orcid.org/0000-0001-5946-6970","affiliations":[{"raw_affiliation_string":"Chang Jung Christian University","institution_ids":["https://openalex.org/I80327900"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5038915638"],"corresponding_institution_ids":["https://openalex.org/I80327900"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"26","issue":"21","first_page":"33503","last_page":"33513"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9657999873161316,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9657999873161316,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.03139999881386757,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.001500000013038516,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reflective-surfaces","display_name":"reflective surfaces","score":0.6700000166893005},{"id":"https://openalex.org/keywords/indoor-navigation","display_name":"indoor navigation","score":0.6159999966621399},{"id":"https://openalex.org/keywords/mobile-robots","display_name":"mobile robots","score":0.6000000238418579}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5723999738693237},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5608999729156494},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.47130000591278076},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.445499986410141},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38600000739097595},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.34610000252723694},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.31369999051094055},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31130000948905945},{"id":"https://openalex.org/C176563091","wikidata":"https://www.wikidata.org/wiki/Q669238","display_name":"Intelligent sensor","level":3,"score":0.2930000126361847},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.2775000035762787},{"id":"https://openalex.org/C2986158284","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Distance measurement","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.26100000739097595},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.2513999938964844}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/jsen.2026.3727559","doi":"https://doi.org/10.1109/jsen.2026.3727559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2026.3727559","pdf_url":null,"source":{"id":"https://openalex.org/S189694085","display_name":"IEEE Sensors Journal","issn_l":"1530-437X","issn":["1530-437X","1558-1748","2379-9153"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-2","ki-jl-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310321027","host_organization_name":"IEEE Sensors Council","host_organization_lineage":["https://openalex.org/P4310321027","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Sensors Council","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 Sensors Journal","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2604.12753","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2604.12753","pdf_url":"https://arxiv.org/pdf/2604.12753","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":"pmh:oai:arXiv.org:2606.03421","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2606.03421","pdf_url":"https://arxiv.org/pdf/2606.03421","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.2604.12753","doi":"https://doi.org/10.48550/arxiv.2604.12753","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.12753","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"},{"id":"doi:10.48550/arxiv.2606.03421","doi":"https://doi.org/10.48550/arxiv.2606.03421","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.03421","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:2604.12753","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2604.12753","pdf_url":"https://arxiv.org/pdf/2604.12753","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/W7204851964.pdf","grobid_xml":"https://content.openalex.org/works/W7204851964.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1987648924","https://openalex.org/W1999050017","https://openalex.org/W2009422376","https://openalex.org/W2041094000","https://openalex.org/W2128019145","https://openalex.org/W2133844819","https://openalex.org/W2154418813","https://openalex.org/W2604137468","https://openalex.org/W2907672876","https://openalex.org/W2951730755","https://openalex.org/W2966015075","https://openalex.org/W4382456680","https://openalex.org/W4383097665","https://openalex.org/W4387717552","https://openalex.org/W4387972622","https://openalex.org/W4390873310","https://openalex.org/W4399564094","https://openalex.org/W4401417366","https://openalex.org/W4407900187","https://openalex.org/W4409262093","https://openalex.org/W4413392694","https://openalex.org/W4413554040","https://openalex.org/W4414197616","https://openalex.org/W4416158850","https://openalex.org/W4416229804","https://openalex.org/W4417286492","https://openalex.org/W7104607800","https://openalex.org/W7114775501","https://openalex.org/W7131116866"],"related_works":["https://openalex.org/W2913279314","https://openalex.org/W7222273889","https://openalex.org/W4213266007","https://openalex.org/W4415047826","https://openalex.org/W7125648642","https://openalex.org/W7095480434","https://openalex.org/W2083961414","https://openalex.org/W2126150726","https://openalex.org/W2146749082"],"abstract_inverted_index":{"Specular":[0],"glare":[1,150,156],"on":[2,39,112],"reflective":[3],"floors,":[4],"glass":[5],"boundaries,":[6],"and":[7,19,57,79,92,107,124,141,148],"glossy":[8],"indoor":[9,170],"surfaces":[10],"frequently":[11],"corrupts":[12],"active-stereo":[13],"RGB-D":[14],"depth":[15],"measurements,":[16],"producing":[17],"holes":[18],"spikes":[20],"that":[21,130],"accumulate":[22],"as":[23,157,163],"persistent":[24],"phantom":[25],"obstacles":[26],"in":[27],"occupancy-grid":[28],"costmaps.":[29],"This":[30],"paper":[31],"presents":[32],"a":[33,58,113,125,158,164],"glare-resilient":[34],"costmap":[35],"construction":[36,87],"method":[37,82,133],"based":[38],"explicit":[40],"depth-reliability":[41],"modeling.":[42],"A":[43],"lightweight":[44],"Depth":[45],"Reliability":[46],"Map":[47],"network":[48],"(DRM-Net)":[49],"predicts":[50],"per-pixel":[51],"measurement":[52],"trustworthiness":[53],"under":[54,145],"specular":[55],"interference,":[56],"reliability-guided":[59],"weighted-and-gated":[60],"fusion":[61],"(RGF)":[62],"mechanism":[63],"modulates":[64],"occupancy":[65],"updates":[66],"before":[67],"corrupted":[68],"measurements":[69],"are":[70],"accumulated":[71],"into":[72],"the":[73,81,131],"map.":[74],"To":[75],"support":[76,154],"robust":[77],"training":[78],"evaluation,":[80],"uses":[83],"pose-aligned":[84],"multi-view":[85],"reference-depth":[86],"to":[88],"reduce":[89],"circular-supervision":[90],"bias":[91],"is":[93],"evaluated":[94],"through":[95],"fusion-variant":[96],"ablations,":[97],"parameter-sensitivity":[98],"analysis,":[99],"cross-condition":[100],"tests,":[101],"paired":[102],"navigation":[103],"comparisons,":[104],"reliability-map":[105],"metrics,":[106],"embedded":[108],"runtime":[109],"profiling.":[110],"Experiments":[111],"real":[114],"mobile":[115],"robotic":[116],"platform":[117],"equipped":[118],"with":[119],"an":[120],"Intel":[121],"RealSense":[122],"D435":[123],"Jetson":[126],"Orin":[127],"Nano":[128],"show":[129],"proposed":[132],"reduces":[134],"false":[135],"obstacle":[136],"insertion,":[137],"improves":[138],"free-space":[139],"preservation,":[140],"maintains":[142],"real-time":[143],"throughput":[144],"reflective-floor,":[146],"glass-wall,":[147],"natural-light":[149],"conditions.":[151],"These":[152],"results":[153],"treating":[155],"measurement-reliability":[159],"problem":[160,167],"rather":[161],"than":[162],"dense":[165],"depth-completion":[166],"for":[168],"safety-critical":[169],"navigation.":[171]},"counts_by_year":[],"updated_date":"2026-11-14T11:04:58.165337","created_date":"2026-09-01T00:00:00"}