{"id":"https://openalex.org/W4403678379","doi":"https://doi.org/10.1109/case59546.2024.10711541","title":"Integrating Occupancy Grid with Semantic Road Information for Autonomous Navigation in Urban Scenarios: A Benchmark Study","display_name":"Integrating Occupancy Grid with Semantic Road Information for Autonomous Navigation in Urban Scenarios: A Benchmark Study","publication_year":2024,"publication_date":"2024-08-28","ids":{"openalex":"https://openalex.org/W4403678379","doi":"https://doi.org/10.1109/case59546.2024.10711541"},"language":"en","primary_location":{"id":"doi:10.1109/case59546.2024.10711541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711541","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059190034","display_name":"Simone Felicioni","orcid":"https://orcid.org/0000-0003-0978-0632"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Simone Felicioni","raw_affiliation_strings":["University of Perugia,Department of Engineering,Perugia,Italy,06125"],"affiliations":[{"raw_affiliation_string":"University of Perugia,Department of Engineering,Perugia,Italy,06125","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114373338","display_name":"Elena Burani","orcid":null},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena Burani","raw_affiliation_strings":["University of Perugia,Department of Engineering,Perugia,Italy,06125"],"affiliations":[{"raw_affiliation_string":"University of Perugia,Department of Engineering,Perugia,Italy,06125","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048258521","display_name":"Mirko Leomanni","orcid":"https://orcid.org/0000-0002-4720-5447"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mirko Leomanni","raw_affiliation_strings":["University of Perugia,Department of Engineering,Perugia,Italy,06125"],"affiliations":[{"raw_affiliation_string":"University of Perugia,Department of Engineering,Perugia,Italy,06125","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057733793","display_name":"Mario Luca Fravolini","orcid":"https://orcid.org/0000-0002-3104-8782"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mario Luca Fravolini","raw_affiliation_strings":["University of Perugia,Department of Engineering,Perugia,Italy,06125"],"affiliations":[{"raw_affiliation_string":"University of Perugia,Department of Engineering,Perugia,Italy,06125","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066104170","display_name":"Paolo Valigi","orcid":"https://orcid.org/0000-0002-0486-7678"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Valigi","raw_affiliation_strings":["University of Perugia,Department of Engineering,Perugia,Italy,06125"],"affiliations":[{"raw_affiliation_string":"University of Perugia,Department of Engineering,Perugia,Italy,06125","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016925926","display_name":"Gabriele Costante","orcid":"https://orcid.org/0000-0002-8417-9372"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Costante","raw_affiliation_strings":["University of Perugia,Department of Engineering,Perugia,Italy,06125"],"affiliations":[{"raw_affiliation_string":"University of Perugia,Department of Engineering,Perugia,Italy,06125","institution_ids":["https://openalex.org/I27483092"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5059190034"],"corresponding_institution_ids":["https://openalex.org/I27483092"],"apc_list":null,"apc_paid":null,"fwci":0.375,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58501981,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2665","last_page":"2671"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T11106","display_name":"Data Management and Algorithms","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10215","display_name":"Semantic Web and Ontologies","score":0.9943000078201294,"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/T10757","display_name":"Geographic Information Systems Studies","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.8328037858009338},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7378429174423218},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.7339192032814026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7115657329559326},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5093508958816528},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35242199897766113},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18843773007392883},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15513595938682556},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.15310385823249817},{"id":"https://openalex.org/keywords/architectural-engineering","display_name":"Architectural engineering","score":0.11735311150550842},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10733899474143982},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10034260153770447}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.8328037858009338},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7378429174423218},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.7339192032814026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7115657329559326},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5093508958816528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35242199897766113},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18843773007392883},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15513595938682556},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.15310385823249817},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.11735311150550842},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10733899474143982},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10034260153770447},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case59546.2024.10711541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711541","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.75,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W1969483458","https://openalex.org/W1993871896","https://openalex.org/W1999050017","https://openalex.org/W2343568200","https://openalex.org/W2431874326","https://openalex.org/W2562137921","https://openalex.org/W2565639579","https://openalex.org/W2615547864","https://openalex.org/W2736636266","https://openalex.org/W2890003176","https://openalex.org/W2899111457","https://openalex.org/W2908141607","https://openalex.org/W2953303875","https://openalex.org/W2981207549","https://openalex.org/W2991375205","https://openalex.org/W2998859407","https://openalex.org/W3002971773","https://openalex.org/W3029795912","https://openalex.org/W3034669477","https://openalex.org/W3120926185","https://openalex.org/W4200012990","https://openalex.org/W4205574455","https://openalex.org/W4213385722","https://openalex.org/W4241543438","https://openalex.org/W4376166839","https://openalex.org/W4385626667","https://openalex.org/W6605295560","https://openalex.org/W6637373629","https://openalex.org/W6640963894","https://openalex.org/W6787564107"],"related_works":["https://openalex.org/W4282043467","https://openalex.org/W2105697914","https://openalex.org/W3093197249","https://openalex.org/W2162255319","https://openalex.org/W3033776171","https://openalex.org/W1999050017","https://openalex.org/W5037887","https://openalex.org/W4229444815","https://openalex.org/W4293877624","https://openalex.org/W1538887534"],"abstract_inverted_index":{"In":[0,105],"the":[1,9,19,42,45,62,80,84,101,115,120,125],"last":[2],"decades,":[3],"autonomous":[4,102],"vehicles":[5,46],"(AVs)":[6],"have":[7],"attracted":[8],"interest":[10],"of":[11,21,44,61,129],"industries":[12],"and":[13,17,49,92,113,127],"researchers":[14],"to":[15,40,67,79],"develop":[16],"improve":[18],"performance":[20],"advanced":[22],"driver":[23],"assistance":[24],"systems":[25],"(ADAS).":[26],"To":[27],"this":[28,55],"aim,":[29],"many":[30],"works":[31],"focus":[32],"on":[33,95],"extracting":[34],"semantic":[35,68,77,97],"information":[36,74],"in":[37],"urban":[38],"scenarios":[39],"increase":[41],"autonomy":[43],"toward":[47],"safe":[48],"more":[50],"efficient":[51],"self-driving":[52],"navigation.":[53],"Following":[54],"research":[56],"direction,":[57],"classical":[58],"grid":[59,81],"representations":[60],"world":[63],"can":[64],"be":[65],"extended":[66],"occupancy":[69],"grids,":[70],"that":[71],"include":[72],"richer":[73],"by":[75,123],"assigning":[76],"labels":[78],"cells.":[82],"However,":[83],"literature":[85],"lacks":[86],"a":[87,93],"comparison":[88],"between":[89],"existing":[90],"approaches":[91],"study":[94],"how":[96],"mapping":[98],"may":[99],"affect":[100],"navigation":[103,121],"performance.":[104],"our":[106],"investigation,":[107],"we":[108],"consider":[109],"four":[110],"state-of-the-art":[111],"methods":[112],"compare":[114],"computation":[116],"times":[117],"along":[118],"with":[119],"performance,":[122],"highlighting":[124],"pros":[126],"cons":[128],"each":[130],"strategy.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}