{"id":"https://openalex.org/W4417038098","doi":"https://doi.org/10.1007/s10846-025-02280-x","title":"Comparison and Optimization of U-Net and SegNet Encoder-Decoder Architectures for Soccer Field Segmentation in RoboCup","display_name":"Comparison and Optimization of U-Net and SegNet Encoder-Decoder Architectures for Soccer Field Segmentation in RoboCup","publication_year":2025,"publication_date":"2025-12-05","ids":{"openalex":"https://openalex.org/W4417038098","doi":"https://doi.org/10.1007/s10846-025-02280-x"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-025-02280-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02280-x","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10846-025-02280-x","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093419875","display_name":"Ot\u00e1vio H. R. Guimar\u00e3es","orcid":"https://orcid.org/0009-0000-7574-1442"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Ot\u00e1vio H. R. Guimar\u00e3es","raw_affiliation_strings":["Autonomous Computational Systems Lab (LAB-SCA), Computer Science Division, Aeronautics Institute of Technology, Pra\u00e7a Marechal Eduardo Gomes, 50, Vila das Ac\u00e1cias, S\u00e3o Jos\u00e9 dos Campos, 12228-900, S\u00e3o Paulo, Brazil","\u00c9cole Polytechnique, Institut Polytechnique de Paris, Route de Saclay, Palaiseau, 91128, \u00cele-de-France, France"],"raw_orcid":"https://orcid.org/0009-0000-7574-1442","affiliations":[{"raw_affiliation_string":"Autonomous Computational Systems Lab (LAB-SCA), Computer Science Division, Aeronautics Institute of Technology, Pra\u00e7a Marechal Eduardo Gomes, 50, Vila das Ac\u00e1cias, S\u00e3o Jos\u00e9 dos Campos, 12228-900, S\u00e3o Paulo, Brazil","institution_ids":["https://openalex.org/I107428990"]},{"raw_affiliation_string":"\u00c9cole Polytechnique, Institut Polytechnique de Paris, Route de Saclay, Palaiseau, 91128, \u00cele-de-France, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019218502","display_name":"Marcos R. O. A. M\u00e1ximo","orcid":"https://orcid.org/0000-0003-2944-4476"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Marcos R. O. A. Maximo","raw_affiliation_strings":["Autonomous Computational Systems Lab (LAB-SCA), Computer Science Division, Aeronautics Institute of Technology, Pra\u00e7a Marechal Eduardo Gomes, 50, Vila das Ac\u00e1cias, S\u00e3o Jos\u00e9 dos Campos, 12228-900, S\u00e3o Paulo, Brazil"],"raw_orcid":"https://orcid.org/0000-0003-2944-4476","affiliations":[{"raw_affiliation_string":"Autonomous Computational Systems Lab (LAB-SCA), Computer Science Division, Aeronautics Institute of Technology, Pra\u00e7a Marechal Eduardo Gomes, 50, Vila das Ac\u00e1cias, S\u00e3o Jos\u00e9 dos Campos, 12228-900, S\u00e3o Paulo, Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110206011","display_name":"Jos\u00e9 Maria Parente de Oliveira","orcid":"https://orcid.org/0000-0002-7803-1718"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]},{"id":"https://openalex.org/I4210123805","display_name":"Instituto de Aeron\u00e1utica e Espa\u00e7o","ror":"https://ror.org/025n1fp68","country_code":"BR","type":"other","lineage":["https://openalex.org/I4210123805"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 Maria Parente de Oliveira","raw_affiliation_strings":["Big Data Science Lab, Computer Science Division, Aeronautics Institute of Technology, Pra\u00e7a Marechal Eduardo Gomes, 50, Vila das Ac\u00e1cias, S\u00e3o Jos\u00e9 dos Campos, 12228-900, S\u00e3o Paulo, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-7803-1718","affiliations":[{"raw_affiliation_string":"Big Data Science Lab, Computer Science Division, Aeronautics Institute of Technology, Pra\u00e7a Marechal Eduardo Gomes, 50, Vila das Ac\u00e1cias, S\u00e3o Jos\u00e9 dos Campos, 12228-900, S\u00e3o Paulo, Brazil","institution_ids":["https://openalex.org/I107428990","https://openalex.org/I4210123805"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5093419875"],"corresponding_institution_ids":["https://openalex.org/I107428990"],"apc_list":{"value":3090,"currency":"USD","value_usd":3090},"apc_paid":{"value":3090,"currency":"USD","value_usd":3090},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26314526,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"112","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.16169999539852142,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.16169999539852142,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0997999981045723,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.09130000323057175,"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/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6575000286102295},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6531999707221985},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.6259999871253967},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6259999871253967},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5938000082969666},{"id":"https://openalex.org/keywords/dice","display_name":"Dice","score":0.5303000211715698},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4496999979019165},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4244000017642975}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7768999934196472},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6703000068664551},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6575000286102295},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6531999707221985},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.6259999871253967},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6259999871253967},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5938000082969666},{"id":"https://openalex.org/C22029948","wikidata":"https://www.wikidata.org/wiki/Q45089","display_name":"Dice","level":2,"score":0.5303000211715698},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4699000120162964},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4496999979019165},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.439300000667572},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4244000017642975},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.41620001196861267},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.414000004529953},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.4124999940395355},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4000000059604645},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.3165000081062317},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3084000051021576},{"id":"https://openalex.org/C132900626","wikidata":"https://www.wikidata.org/wiki/Q7534733","display_name":"Sketch recognition","level":4,"score":0.3010999858379364},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.25920000672340393}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-025-02280-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02280-x","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-025-02280-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02280-x","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1330872505","display_name":null,"funder_award_id":"307525/2022-8.","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"}],"funders":[{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W69154366","https://openalex.org/W218737671","https://openalex.org/W1495140931","https://openalex.org/W1903029394","https://openalex.org/W2034587361","https://openalex.org/W2064675550","https://openalex.org/W2163994762","https://openalex.org/W2193145675","https://openalex.org/W2405831771","https://openalex.org/W2489872516","https://openalex.org/W2535339977","https://openalex.org/W2566467491","https://openalex.org/W2766207458","https://openalex.org/W2905896016","https://openalex.org/W2906261180","https://openalex.org/W2910149955","https://openalex.org/W2949650786","https://openalex.org/W2982083293","https://openalex.org/W2993976229","https://openalex.org/W2996821070","https://openalex.org/W2998159497","https://openalex.org/W3110335741","https://openalex.org/W3119713322","https://openalex.org/W3138516171","https://openalex.org/W4200366076","https://openalex.org/W4214588794","https://openalex.org/W4214893857","https://openalex.org/W4226070503","https://openalex.org/W4288076260","https://openalex.org/W4288626395","https://openalex.org/W4300424419","https://openalex.org/W4360778100","https://openalex.org/W4389332335","https://openalex.org/W4389332630"],"related_works":[],"abstract_inverted_index":{"Deep":[0],"Neural":[1],"Networks":[2],"are":[3],"considered":[4],"state-of-the-art":[5],"for":[6,25,186,196,212],"computer":[7,27,202],"vision":[8,28,50],"tasks.":[9],"In":[10,116],"the":[11,15,32,40,48,83,110,113,119,132,138,149,193,200,210,216,219,224],"humanoid":[12,206],"league":[13],"of":[14,47,160,182,203,230],"RoboCup":[16],"competition,":[17],"many":[18],"teams":[19,84],"have":[20,85],"relied":[21],"on":[22,148,199,215],"neural":[23,54,91,128,144],"networks":[24,55,129],"their":[26],"systems,":[29],"especially":[30],"after":[31,232],"rules":[33],"were":[34,154],"changed":[35],"to":[36,39,88,168,191],"be":[37],"closer":[38],"ones":[41],"used":[42],"in":[43,56,131,158],"human":[44],"soccer.":[45],"One":[46],"main":[49],"tasks":[51],"solved":[52,75],"using":[53,218],"this":[57,117],"domain":[58],"is":[59,96,121],"soccer":[60,133],"field":[61,106,114,134],"segmentation,":[62,80,188],"where":[63],"an":[64],"algorithm":[65,101],"must":[66],"classify":[67],"each":[68],"image":[69,95],"pixel.":[70],"This":[71],"task":[72],"has":[73],"been":[74,86],"classically":[76],"with":[77,223],"simple":[78],"color":[79],"but":[81],"recently,":[82],"migrating":[87],"encoder-decoder":[89],"convolutional":[90],"networks.":[92],"The":[93,173],"segmented":[94],"then":[97],"post-processed":[98],"by":[99,141],"another":[100],"that":[102],"extracts":[103],"information":[104],"about":[105],"features":[107],"such":[108],"as":[109],"lines":[111],"and":[112,151,156,164,175,184],"boundary.":[115],"article,":[118],"contribution":[120],"a":[122,204,227],"comprehensive":[123],"comparison":[124],"regarding":[125],"how":[126],"different":[127],"perform":[130],"segmentation":[135],"task,":[136],"considering":[137],"constraints":[139],"imposed":[140],"RoboCup.":[142],"Twenty-four":[143],"network":[145],"models,":[146,177],"based":[147],"U-Net":[150],"SegNet":[152],"architectures,":[153],"tested":[155],"compared":[157],"terms":[159],"loss,":[161],"Dice":[162,180,228],"Scores,":[163],"average":[165],"inference":[166,198,214],"time":[167],"examine":[169],"various":[170],"encoders\u2019":[171],"efficiency.":[172],"U-Net/MobileNetV3Small":[174],"U-Net/MobileNetV3Large":[176,225],"particularly,":[178],"achieved":[179],"Scores":[181],"0.7173":[183],"0.7107":[185],"line":[187],"respectively.":[189],"Furthermore,":[190],"make":[192],"models":[194,211],"suitable":[195],"real-time":[197],"embedded":[201],"small":[205],"robot,":[207],"we":[208],"optimized":[209],"faster":[213],"CPU":[217],"Intel":[220],"OpenVINO":[221],"framework,":[222],"showing":[226],"Score":[229],"0.733":[231],"optimization.":[233]},"counts_by_year":[],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-12-05T00:00:00"}