{"id":"https://openalex.org/W4392405817","doi":"https://doi.org/10.1109/access.2024.3373004","title":"ForestTrav: 3D LiDAR-Only Forest Traversability Estimation for Autonomous Ground Vehicles","display_name":"ForestTrav: 3D LiDAR-Only Forest Traversability Estimation for Autonomous Ground Vehicles","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392405817","doi":"https://doi.org/10.1109/access.2024.3373004"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3373004","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3373004","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10458917.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10458917.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075177417","display_name":"Fabio Ruetz","orcid":"https://orcid.org/0000-0002-3277-3134"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Fabio A. Ruetz","raw_affiliation_strings":["QUT Centre for Robotics, Queensland University of Technology (QUT), Brisbane, QLD, Australia","Robotics and Autonomous Systems Group (RASG), CSIRO, Pullenvale, Qld, Australia","QUT Centre for Robotics, Queensland University of Technology (QUT), Brisbane, Qld, Australia"],"raw_orcid":"https://orcid.org/0000-0002-3277-3134","affiliations":[{"raw_affiliation_string":"QUT Centre for Robotics, Queensland University of Technology (QUT), Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group (RASG), CSIRO, Pullenvale, Qld, Australia","institution_ids":["https://openalex.org/I1292875679"]},{"raw_affiliation_string":"QUT Centre for Robotics, Queensland University of Technology (QUT), Brisbane, Qld, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025600740","display_name":"Nicholas Lawrance","orcid":"https://orcid.org/0000-0003-2167-7427"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Nicholas Lawrance","raw_affiliation_strings":["Data61, CSIRO Robotics, Pullenvale, QLD, Australia","Robotics and Autonomous Systems Group (RASG), CSIRO, Pullenvale, Qld, Australia"],"raw_orcid":"https://orcid.org/0000-0003-2167-7427","affiliations":[{"raw_affiliation_string":"Data61, CSIRO Robotics, Pullenvale, QLD, Australia","institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I42894916"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group (RASG), CSIRO, Pullenvale, Qld, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021750625","display_name":"Emili Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-6143-6161"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Emili Hern\u00e1ndez","raw_affiliation_strings":["Emesent, Milton, QLD, Australia","Emesent, Milton, Qld, Australia"],"raw_orcid":"https://orcid.org/0000-0002-6143-6161","affiliations":[{"raw_affiliation_string":"Emesent, Milton, QLD, Australia","institution_ids":[]},{"raw_affiliation_string":"Emesent, Milton, Qld, Australia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027373455","display_name":"Paulo Borges","orcid":"https://orcid.org/0000-0001-8137-7245"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Paulo V. K. Borges","raw_affiliation_strings":["Data61, CSIRO Robotics, Pullenvale, QLD, Australia","Robotics and Autonomous Systems Group (RASG), CSIRO, Pullenvale, Qld, Australia"],"raw_orcid":"https://orcid.org/0000-0001-8137-7245","affiliations":[{"raw_affiliation_string":"Data61, CSIRO Robotics, Pullenvale, QLD, Australia","institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I42894916"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group (RASG), CSIRO, Pullenvale, Qld, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060070984","display_name":"Thierry Peynot","orcid":"https://orcid.org/0000-0001-8275-6538"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thierry Peynot","raw_affiliation_strings":["QUT Centre for Robotics, Queensland University of Technology (QUT), Brisbane, QLD, Australia","QUT Centre for Robotics, Queensland University of Technology (QUT), Brisbane, Qld, Australia"],"raw_orcid":"https://orcid.org/0000-0001-8275-6538","affiliations":[{"raw_affiliation_string":"QUT Centre for Robotics, Queensland University of Technology (QUT), Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"QUT Centre for Robotics, Queensland University of Technology (QUT), Brisbane, Qld, Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5075177417"],"corresponding_institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I160993911"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":26.8431,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.99422736,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"12","issue":null,"first_page":"37192","last_page":"37206"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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":0.9988999962806702,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7674003839492798},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.756121814250946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6577776074409485},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5625637769699097},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5481378436088562},{"id":"https://openalex.org/keywords/random-forest","display_name":"Random forest","score":0.5127342939376831},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.4882640838623047},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42415156960487366},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.4124975800514221},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.39598584175109863},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.34653568267822266},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.22721204161643982},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13077810406684875}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7674003839492798},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.756121814250946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6577776074409485},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5625637769699097},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5481378436088562},{"id":"https://openalex.org/C169258074","wikidata":"https://www.wikidata.org/wiki/Q245748","display_name":"Random forest","level":2,"score":0.5127342939376831},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.4882640838623047},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42415156960487366},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.4124975800514221},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.39598584175109863},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.34653568267822266},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.22721204161643982},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13077810406684875},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3373004","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3373004","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10458917.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:0cbe0831042f46d18f312338d86e04b1","is_oa":true,"landing_page_url":"https://doaj.org/article/0cbe0831042f46d18f312338d86e04b1","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 37192-37206 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3373004","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3373004","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10458917.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320386","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07"},{"id":"https://openalex.org/F4320320983","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4392405817.pdf"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1974868116","https://openalex.org/W2063549868","https://openalex.org/W2068303195","https://openalex.org/W2068861396","https://openalex.org/W2100805904","https://openalex.org/W2133844819","https://openalex.org/W2156067790","https://openalex.org/W2218081593","https://openalex.org/W2401247923","https://openalex.org/W2765757095","https://openalex.org/W2798405286","https://openalex.org/W2913921102","https://openalex.org/W2963125977","https://openalex.org/W2999309192","https://openalex.org/W3003922739","https://openalex.org/W3096387236","https://openalex.org/W3117945981","https://openalex.org/W3127756416","https://openalex.org/W3132760549","https://openalex.org/W3157464965","https://openalex.org/W3206164009","https://openalex.org/W4211010347","https://openalex.org/W4281682914","https://openalex.org/W4285159888","https://openalex.org/W4285610291","https://openalex.org/W4293152264","https://openalex.org/W4312302744","https://openalex.org/W4312441173","https://openalex.org/W4312711505","https://openalex.org/W4312749288","https://openalex.org/W4312878346","https://openalex.org/W4316669460","https://openalex.org/W4320056905","https://openalex.org/W4378070427","https://openalex.org/W4385416313","https://openalex.org/W4385430650","https://openalex.org/W4385815536","https://openalex.org/W4387092535","https://openalex.org/W6640289440","https://openalex.org/W6730042731","https://openalex.org/W6838984008"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1],"in":[2,13,79,88,106,143,163,174,177,222,248],"unstructured":[3],"vegetated":[4,61,108],"environments":[5],"remains":[6],"an":[7,231,267],"open":[8],"challenge.":[9],"To":[10],"successfully":[11],"operate":[12],"these":[14],"settings,":[15],"autonomous":[16],"ground":[17],"vehicles":[18],"(AGVs)":[19],"must":[20],"assess":[21,235,245],"the":[22,91,175,184,187,191,197,223,236,264],"environment":[23],"and":[24,94,116,123,146,193,228,244,253,260],"determine":[25],"which":[26],"vegetation":[27],"is":[28,113,117],"pliable":[29],"enough":[30],"to":[31,82,102,119,147,149,190,234,242,263],"safely":[32],"traverse.":[33],"In":[34],"this":[35,229],"paper,":[36],"we":[37,182,251],"propose":[38],"ForestTrav":[39,152],"(Forest":[40],"Traversability):":[41],"a":[42,55,71,128,201,255],"novel":[43],"lidar-only":[44,155],"(geometric),":[45],"online":[46,161],"traversability":[47,57],"estimation":[48],"(TE)":[49],"method":[50,69,112,215],"that":[51,154,213],"can":[52,158],"accurately":[53],"generate":[54],"per-voxel":[56,85],"estimate":[58],"for":[59,64],"densely":[60,107],"environments,":[62,250],"shown":[63,118],"dense":[65],"subtropical":[66],"forests.":[67],"The":[68,110],"leverages":[70],"salient,":[72],"probabilistic":[73,198],"3D":[74],"voxel":[75,141],"representation,":[76],"continuously":[77],"fusing":[78],"lidar":[80],"measurements":[81],"maintain":[83],"multiple,":[84],"ray":[86],"statistics,":[87],"combination":[89],"with":[90,219],"structural":[92],"context":[93],"compactness":[95],"of":[96,186,196,203,226],"sparse":[97],"convolutional":[98],"neural":[99],"networks":[100],"(SCNNs)":[101],"perform":[103],"accurate":[104],"TE":[105,125,162,188,246],"environments.":[109,151,166,180],"proposed":[111],"real-time":[114],"capable":[115],"outperform":[120],"state-of-the-art":[121],"volumetric":[122],"2.5D":[124],"methods":[126,157,189,247],"by":[127],"significant":[129],"margin":[130],"(0.62":[131],"vs.":[132],"0.41":[133],"Matthews":[134],"correlation":[135],"coefficient":[136],"(MCC)":[137],"score":[138],"at":[139],"0.1m":[140],"resolution)":[142],"challenging":[144],"scenes":[145],"generalize":[148],"unseen":[150],"demonstrates":[153],"(geometric)":[156],"provide":[159,261],"accurate,":[160],"complex,":[164],"densely-vegetated":[165],"This":[167],"capability":[168],"has":[169],"not":[170],"been":[171],"previously":[172],"demonstrated":[173],"literature":[176],"such":[178],"complex":[179],"Further,":[181],"analyze":[183],"response":[185],"temporal":[192],"spatial":[194],"evolution":[195],"map":[199],"as":[200,266],"function":[202],"information":[204,221],"accumulated":[205],"over":[206],"time":[207],"during":[208,239],"scene":[209],"exploration.":[210],"It":[211],"shows":[212],"our":[214],"performs":[216],"well":[217],"even":[218],"limited":[220],"early":[224],"stages":[225],"exploration,":[227],"provides":[230],"additional":[232],"tool":[233],"expected":[237],"performance":[238],"deployment.":[240],"Finally,":[241],"train":[243],"highly-vegetated":[249],"collected":[252],"labeled":[254],"novel,":[256],"real-world":[257],"data":[258],"set":[259],"it":[262],"community":[265],"open-source":[268],"resource.":[269]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":5}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
