{"id":"https://openalex.org/W4322007488","doi":"https://doi.org/10.1007/s10489-023-04478-8","title":"Learning vision based autonomous lateral vehicle control without supervision","display_name":"Learning vision based autonomous lateral vehicle control without supervision","publication_year":2023,"publication_date":"2023-02-25","ids":{"openalex":"https://openalex.org/W4322007488","doi":"https://doi.org/10.1007/s10489-023-04478-8"},"language":"en","primary_location":{"id":"doi:10.1007/s10489-023-04478-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10489-023-04478-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10489-023-04478-8.pdf","source":{"id":"https://openalex.org/S74726891","display_name":"Applied Intelligence","issn_l":"0924-669X","issn":["0924-669X","1573-7497"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10489-023-04478-8.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079920216","display_name":"Qadeer Khan","orcid":"https://orcid.org/0000-0002-7674-0596"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Qadeer Khan","raw_affiliation_strings":["Chair of Computer Vision and Artificial Intelligence, TUM School of Computation, Information and Technology, Technical University of Munich, Boltzmannstrasse 3, Garching, 85748, Bayern, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7674-0596","affiliations":[{"raw_affiliation_string":"Chair of Computer Vision and Artificial Intelligence, TUM School of Computation, Information and Technology, Technical University of Munich, Boltzmannstrasse 3, Garching, 85748, Bayern, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078629982","display_name":"Idil S\u00fcl\u00f6","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Idil S\u00fcl\u00f6","raw_affiliation_strings":["Chair of Computer Vision and Artificial Intelligence, TUM School of Computation, Information and Technology, Technical University of Munich, Boltzmannstrasse 3, Garching, 85748, Bayern, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Computer Vision and Artificial Intelligence, TUM School of Computation, Information and Technology, Technical University of Munich, Boltzmannstrasse 3, Garching, 85748, Bayern, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023671739","display_name":"Melis \u00d6cal","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Melis \u00d6cal","raw_affiliation_strings":["Chair of Computer Vision and Artificial Intelligence, TUM School of Computation, Information and Technology, Technical University of Munich, Boltzmannstrasse 3, Garching, 85748, Bayern, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Computer Vision and Artificial Intelligence, TUM School of Computation, Information and Technology, Technical University of Munich, Boltzmannstrasse 3, Garching, 85748, Bayern, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087710605","display_name":"Daniel Cremers","orcid":"https://orcid.org/0000-0002-3079-7984"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Cremers","raw_affiliation_strings":["Chair of Computer Vision and Artificial Intelligence, TUM School of Computation, Information and Technology, Technical University of Munich, Boltzmannstrasse 3, Garching, 85748, Bayern, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Computer Vision and Artificial Intelligence, TUM School of Computation, Information and Technology, Technical University of Munich, Boltzmannstrasse 3, Garching, 85748, Bayern, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5079920216"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":7.1255,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96121582,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"53","issue":"16","first_page":"19186","last_page":"19198"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9991999864578247,"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":0.9991000294685364,"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/computer-science","display_name":"Computer science","score":0.9099588990211487},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7738291621208191},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6513357758522034},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5492373704910278},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.5210227966308594},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5200897455215454},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.47954437136650085},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46742695569992065},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4291788935661316},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.3421262502670288},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3414471745491028},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11431828141212463},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08485651016235352}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.9099588990211487},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7738291621208191},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6513357758522034},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5492373704910278},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.5210227966308594},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5200897455215454},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.47954437136650085},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46742695569992065},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4291788935661316},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3421262502670288},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3414471745491028},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11431828141212463},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08485651016235352},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10489-023-04478-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10489-023-04478-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10489-023-04478-8.pdf","source":{"id":"https://openalex.org/S74726891","display_name":"Applied Intelligence","issn_l":"0924-669X","issn":["0924-669X","1573-7497"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Intelligence","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1763733","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1763733","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s10489-023-04478-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10489-023-04478-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10489-023-04478-8.pdf","source":{"id":"https://openalex.org/S74726891","display_name":"Applied Intelligence","issn_l":"0924-669X","issn":["0924-669X","1573-7497"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323383","display_name":"Technische Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/02kkvpp62"},{"id":"https://openalex.org/F5395805803","display_name":"Munich Center for Machine Learning","ror":"https://ror.org/02nfy3535"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4322007488.pdf"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W104527645","https://openalex.org/W606806978","https://openalex.org/W612478963","https://openalex.org/W1544016679","https://openalex.org/W1612997784","https://openalex.org/W1855113498","https://openalex.org/W2150066425","https://openalex.org/W2167340365","https://openalex.org/W2241696051","https://openalex.org/W2474281075","https://openalex.org/W2520707372","https://openalex.org/W2535547924","https://openalex.org/W2604738573","https://openalex.org/W2615547864","https://openalex.org/W2740067745","https://openalex.org/W2790640584","https://openalex.org/W2806241513","https://openalex.org/W2890235476","https://openalex.org/W2896401806","https://openalex.org/W2905058345","https://openalex.org/W2905173465","https://openalex.org/W2939569248","https://openalex.org/W2948005877","https://openalex.org/W2948016596","https://openalex.org/W2962894046","https://openalex.org/W2962977206","https://openalex.org/W2962999504","https://openalex.org/W2963562098","https://openalex.org/W2968983352","https://openalex.org/W2972846933","https://openalex.org/W2978967214","https://openalex.org/W2979458572","https://openalex.org/W2985775862","https://openalex.org/W2991275856","https://openalex.org/W2999597893","https://openalex.org/W3003665832","https://openalex.org/W3003739542","https://openalex.org/W3034953156","https://openalex.org/W3035172746","https://openalex.org/W3035524985","https://openalex.org/W3035574168","https://openalex.org/W3035749845","https://openalex.org/W3081310128","https://openalex.org/W3087815220","https://openalex.org/W3087950633","https://openalex.org/W3096775261","https://openalex.org/W3102327032","https://openalex.org/W3112667348","https://openalex.org/W3128436311","https://openalex.org/W3198277841","https://openalex.org/W3205553845","https://openalex.org/W4200354525","https://openalex.org/W4205373550","https://openalex.org/W4206494026","https://openalex.org/W4224914563","https://openalex.org/W4248164991"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W2787146399","https://openalex.org/W4390187686","https://openalex.org/W2111152968","https://openalex.org/W2583798032"],"abstract_inverted_index":{"Abstract":[0],"Supervised":[1],"deep":[2],"learning":[3],"methods":[4,23,147],"using":[5],"image":[6],"data":[7,150],"as":[8],"input":[9],"have":[10,24],"shown":[11],"promising":[12],"results":[13,135],"in":[14,57,122],"the":[15,58,61,70,97,111,123,130,138],"context":[16],"of":[17,34,60,88,129,140],"vehicle":[18,98],"control.":[19],"However,":[20],"these":[21,81],"supervised":[22],"two":[25],"main":[26],"disadvantages:":[27],"1)":[28],"They":[29],"require":[30],"a":[31,77],"copious":[32],"amount":[33],"labeled":[35],"training":[36,62,124],"data,":[37],"which":[38],"is":[39,92,143,158],"difficult":[40],"and":[41,155],"expensive":[42],"to":[43,79,95,108],"collect.":[44],"2)":[45],"Such":[46],"models":[47],"do":[48],"not":[49,56],"perform":[50],"well,":[51],"when":[52],"situations":[53],"that":[54,137],"are":[55,64,120],"distribution":[59,125],"set":[63],"encountered.":[65],"This":[66],"includes":[67],"deviations":[68],"from":[69,83],"designated":[71],"driving":[72],"behavior.":[73],"We":[74],"therefore":[75],"provide":[76],"framework":[78],"mitigate":[80],"problems":[82],"merely":[84],"an":[85],"unlabeled":[86],"sequence":[87],"images.":[89],"Visual":[90],"Odometry":[91],"first":[93],"used":[94],"determine":[96],"trajectory.":[99],"Model":[100],"Predictive":[101],"Control":[102],"(MPC)":[103],"then":[104],"uses":[105],"this":[106],"trajectory":[107],"implicitly":[109],"infer":[110],"steering":[112],"labels.":[113],"Meanwhile,":[114],"synthesized":[115],"images":[116],"at":[117,144],"deviated":[118],"trajectories":[119],"included":[121],"for":[126],"enhanced":[127],"robustness":[128],"neural":[131],"network":[132,142],"model.":[133],"Experimental":[134],"demonstrate":[136],"performance":[139],"our":[141],"par":[145],"with":[146],"requiring":[148],"additional":[149],"collection":[151],"or":[152],"supervision.":[153],"Code":[154],"supplementary":[156],"information":[157],"available":[159],"here:":[160],"https://github.com/idilsulo/nn-driving":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}