{"id":"https://openalex.org/W4413894162","doi":"https://doi.org/10.1002/rob.70060","title":"Learning Orientation Field for OSM\u2010Guided Autonomous Navigation","display_name":"Learning Orientation Field for OSM\u2010Guided Autonomous Navigation","publication_year":2025,"publication_date":"2025-09-01","ids":{"openalex":"https://openalex.org/W4413894162","doi":"https://doi.org/10.1002/rob.70060"},"language":"en","primary_location":{"id":"doi:10.1002/rob.70060","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.70060","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ink.library.smu.edu.sg/sis_research/10403","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003223732","display_name":"Yuming Huang","orcid":"https://orcid.org/0009-0005-5383-3780"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Yuming Huang","raw_affiliation_strings":["State Key Laboratory of Internet of Things for Smart City (SKL\u2010IOTSC), Faculty of Science and Technology University of Macau Macau China"],"raw_orcid":"https://orcid.org/0009-0005-5383-3780","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Internet of Things for Smart City (SKL\u2010IOTSC), Faculty of Science and Technology University of Macau Macau China","institution_ids":["https://openalex.org/I204512498","https://openalex.org/I6469544"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101471154","display_name":"Wei Gao","orcid":"https://orcid.org/0000-0003-2734-8886"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Wei Gao","raw_affiliation_strings":["State Key Laboratory of Internet of Things for Smart City (SKL\u2010IOTSC), Faculty of Science and Technology University of Macau Macau China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Internet of Things for Smart City (SKL\u2010IOTSC), Faculty of Science and Technology University of Macau Macau China","institution_ids":["https://openalex.org/I204512498","https://openalex.org/I6469544"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027454088","display_name":"Zhiyuan Zhang","orcid":"https://orcid.org/0009-0001-6047-5513"},"institutions":[{"id":"https://openalex.org/I79891267","display_name":"Singapore Management University","ror":"https://ror.org/050qmg959","country_code":"SG","type":"education","lineage":["https://openalex.org/I79891267"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhiyuan Zhang","raw_affiliation_strings":["School of Computing and Information Systems Singapore Management University Singapore Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Information Systems Singapore Management University Singapore Singapore","institution_ids":["https://openalex.org/I79891267"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046777734","display_name":"Maani Ghaffari","orcid":"https://orcid.org/0000-0002-4734-4295"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maani Ghaffari","raw_affiliation_strings":["Department of Naval Architecture and Marine Engineering University of Michigan Ann Arbor Michigan USA","Department of Robotics University of Michigan Ann Arbor Michigan USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Marine Engineering University of Michigan Ann Arbor Michigan USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Robotics University of Michigan Ann Arbor Michigan USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054819263","display_name":"Dezhen Song","orcid":"https://orcid.org/0000-0002-2944-5754"},"institutions":[{"id":"https://openalex.org/I4210113480","display_name":"Mohamed bin Zayed University of Artificial Intelligence","ror":"https://ror.org/0258gkt32","country_code":"AE","type":"education","lineage":["https://openalex.org/I4210113480"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Dezhen Song","raw_affiliation_strings":["Department of Robotics Mohamed bin Zayed University of Artificial Intelligence (MBZUAI) Masdar City UAE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Mohamed bin Zayed University of Artificial Intelligence (MBZUAI) Masdar City UAE","institution_ids":["https://openalex.org/I4210113480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012773300","display_name":"Chengzhong Xu","orcid":"https://orcid.org/0000-0001-9480-0356"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Cheng\u2010Zhong Xu","raw_affiliation_strings":["State Key Laboratory of Internet of Things for Smart City (SKL\u2010IOTSC), Faculty of Science and Technology University of Macau Macau China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Internet of Things for Smart City (SKL\u2010IOTSC), Faculty of Science and Technology University of Macau Macau China","institution_ids":["https://openalex.org/I204512498","https://openalex.org/I6469544"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036133825","display_name":"Hui Kong","orcid":"https://orcid.org/0000-0002-5303-0276"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Hui Kong","raw_affiliation_strings":["State Key Laboratory of Internet of Things for Smart City (SKL\u2010IOTSC), Faculty of Science and Technology University of Macau Macau China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Internet of Things for Smart City (SKL\u2010IOTSC), Faculty of Science and Technology University of Macau Macau China","institution_ids":["https://openalex.org/I204512498","https://openalex.org/I6469544"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5036133825"],"corresponding_institution_ids":["https://openalex.org/I204512498","https://openalex.org/I6469544"],"apc_list":{"value":4430,"currency":"USD","value_usd":4430},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18023022,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"43","issue":"2","first_page":"717","last_page":"738"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9990000128746033,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/orientation","display_name":"Orientation (vector space)","score":0.7043106555938721},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.6069504022598267},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4964678883552551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4883584678173065},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48705533146858215},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3862361013889313},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07683530449867249},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.048431843519210815}],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7043106555938721},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.6069504022598267},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4964678883552551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4883584678173065},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48705533146858215},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3862361013889313},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07683530449867249},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.048431843519210815},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/rob.70060","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.70060","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},{"id":"pmh:oai:ink.library.smu.edu.sg:sis_research-11404","is_oa":true,"landing_page_url":"https://ink.library.smu.edu.sg/sis_research/10403","pdf_url":null,"source":{"id":"https://openalex.org/S4306401925","display_name":"Singapore Management University Institutional Knowledge (InK) (Singapore Management University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79891267","host_organization_name":"Singapore Management University","host_organization_lineage":["https://openalex.org/I79891267"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://doi.org/10.1002/rob.70060","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:ink.library.smu.edu.sg:sis_research-11404","is_oa":true,"landing_page_url":"https://ink.library.smu.edu.sg/sis_research/10403","pdf_url":null,"source":{"id":"https://openalex.org/S4306401925","display_name":"Singapore Management University Institutional Knowledge (InK) (Singapore Management University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79891267","host_organization_name":"Singapore Management University","host_organization_lineage":["https://openalex.org/I79891267"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://doi.org/10.1002/rob.70060","raw_type":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1981599814","https://openalex.org/W1989750313","https://openalex.org/W2085261163","https://openalex.org/W2107338474","https://openalex.org/W2150066425","https://openalex.org/W2151477068","https://openalex.org/W2736326701","https://openalex.org/W2798786289","https://openalex.org/W2889923199","https://openalex.org/W2905509562","https://openalex.org/W2910489334","https://openalex.org/W2967177252","https://openalex.org/W2968008415","https://openalex.org/W2991216808","https://openalex.org/W2995122008","https://openalex.org/W3035671534","https://openalex.org/W3093434340","https://openalex.org/W3109791956","https://openalex.org/W3133648073","https://openalex.org/W3156100009","https://openalex.org/W3162923460","https://openalex.org/W3204875639","https://openalex.org/W4210423514","https://openalex.org/W4285102429","https://openalex.org/W4292347911","https://openalex.org/W4312339846","https://openalex.org/W4360823144","https://openalex.org/W4383108302","https://openalex.org/W4385430747","https://openalex.org/W4386076439","https://openalex.org/W4389667629","https://openalex.org/W4402916169","https://openalex.org/W4405786412"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"ABSTRACT":[0],"OpenStreetMap":[1],"(OSM)":[2],"has":[3],"gained":[4],"popularity":[5],"recently":[6],"in":[7,38,46,153,196,227],"autonomous":[8],"navigation":[9,77],"due":[10],"to":[11,36,69,169,174],"its":[12],"public":[13],"accessibility,":[14],"lower":[15],"maintenance":[16],"costs,":[17],"and":[18,31,65,82,111,131,150,166,183,187,192,210,229,237],"broader":[19],"geographical":[20],"coverage.":[21],"However,":[22],"existing":[23],"methods":[24],"often":[25],"struggle":[26],"with":[27],"noisy":[28,108,230],"OSM":[29,83,112],"data":[30,208,214],"incomplete":[32],"sensor":[33],"observations,":[34],"leading":[35],"inaccuracies":[37],"trajectory":[39,142],"planning.":[40],"These":[41],"challenges":[42],"are":[43],"particularly":[44],"evident":[45],"complex":[47,228],"driving":[48],"scenarios,":[49],"such":[50],"as":[51],"at":[52,242],"intersections":[53],"or":[54],"facing":[55],"occlusions.":[56],"To":[57,114],"address":[58],"these":[59],"challenges,":[60],"we":[61,89,119,139],"propose":[62,140],"a":[63,91,116,121,127],"robust":[64,117],"explainable":[66],"two\u2010stage":[67],"framework":[68],"learn":[70],"an":[71,133],"Orientation":[72],"Field":[73],"(OrField)":[74],"for":[75,99,144,234],"robot":[76,146],"by":[78,125,157],"integrating":[79],"LiDAR":[80,109],"scans":[81,110],"routes.":[84,113],"In":[85],"the":[86,103,154,159,171,175,206,219],"first":[87],"stage,":[88],"introduce":[90],"novel":[92],"representation,":[93],"OrField,":[94,118,138],"which":[95,179],"can":[96,189],"provide":[97],"orientations":[98],"each":[100],"grid":[101],"on":[102,137,205],"map,":[104],"reasoning":[105],"jointly":[106],"from":[107],"generate":[115,190],"train":[120],"deep":[122],"neural":[123],"network":[124,235],"encoding":[126],"versatile":[128],"initial":[129],"OrField":[130,178],"output":[132],"optimized":[134],"OrField.":[135],"Based":[136],"two":[141],"planners":[143],"OSM\u2010guided":[145],"navigation,":[147],"called":[148],"Field\u2010RRT*":[149,186],"Field\u2010Bezier,":[151],"respectively,":[152],"second":[155],"stage":[156],"improving":[158],"Rapidly":[160],"Exploring":[161],"Random":[162],"Tree":[163],"(RRT)":[164],"algorithm":[165],"Bezier":[167],"curve":[168],"estimate":[170],"trajectories.":[172],"Thanks":[173],"robustness":[176],"of":[177,221],"captures":[180],"both":[181],"global":[182],"local":[184],"information,":[185],"Field\u2010Bezier":[188],"accurate":[191],"reliable":[193],"trajectories":[194],"even":[195],"challenging":[197],"conditions.":[198,231],"We":[199],"validate":[200],"our":[201,211,222],"approach":[202],"through":[203],"experiments":[204],"SemanticKITTI":[207],"set":[209],"own":[212],"campus":[213],"set.":[215],"The":[216],"results":[217],"demonstrate":[218],"effectiveness":[220],"method,":[223],"achieving":[224],"superior":[225],"performance":[226],"Our":[232],"code":[233],"training":[236],"real\u2010world":[238],"deployment":[239],"is":[240],"available":[241],"https://github.com/IMRL/OriField":[243],".":[244]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
