{"id":"https://openalex.org/W4403677451","doi":"https://doi.org/10.1109/case59546.2024.10711832","title":"Towards Robust Perception for Assistive Robotics: An RGB-Event-LiDAR Dataset and Multi-Modal Detection Pipeline","display_name":"Towards Robust Perception for Assistive Robotics: An RGB-Event-LiDAR Dataset and Multi-Modal Detection Pipeline","publication_year":2024,"publication_date":"2024-08-28","ids":{"openalex":"https://openalex.org/W4403677451","doi":"https://doi.org/10.1109/case59546.2024.10711832"},"language":"en","primary_location":{"id":"doi:10.1109/case59546.2024.10711832","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711832","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":"conference-paper","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/A5107608753","display_name":"Adam Scicluna","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Adam Scicluna","raw_affiliation_strings":["University of Technology Sydney (UTS),Robotics Institute, Faculty of Engineering and Information Technology,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney (UTS),Robotics Institute, Faculty of Engineering and Information Technology,Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054326889","display_name":"C\u00e9dric Le Gentil","orcid":"https://orcid.org/0000-0002-9790-5935"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Cedric Le Gentil","raw_affiliation_strings":["University of Technology Sydney (UTS),Robotics Institute, Faculty of Engineering and Information Technology,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney (UTS),Robotics Institute, Faculty of Engineering and Information Technology,Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031338128","display_name":"Sheila Sutjipto","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sheila Sutjipto","raw_affiliation_strings":["University of Technology Sydney (UTS),Robotics Institute, Faculty of Engineering and Information Technology,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney (UTS),Robotics Institute, Faculty of Engineering and Information Technology,Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104545816","display_name":"Gavin Paul","orcid":"https://orcid.org/0000-0002-3478-0020"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gavin Paul","raw_affiliation_strings":["University of Technology Sydney (UTS),Robotics Institute, Faculty of Engineering and Information Technology,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney (UTS),Robotics Institute, Faculty of Engineering and Information Technology,Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"920","last_page":"925"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9983000159263611,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9983000159263611,"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/T12702","display_name":"Brain Tumor Detection and Classification","score":0.9480999708175659,"subfield":{"id":"https://openalex.org/subfields/2808","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9413999915122986,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.7271324992179871},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7244657278060913},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6612857580184937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6592440605163574},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6009950041770935},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.566872239112854},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5029565691947937},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.49201151728630066},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48347145318984985},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4016181528568268},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.13531649112701416},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11341783404350281},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1019030213356018}],"concepts":[{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7271324992179871},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7244657278060913},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6612857580184937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6592440605163574},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6009950041770935},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.566872239112854},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5029565691947937},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.49201151728630066},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48347145318984985},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4016181528568268},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.13531649112701416},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11341783404350281},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1019030213356018},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case59546.2024.10711832","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711832","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1536680647","https://openalex.org/W1861492603","https://openalex.org/W2016574277","https://openalex.org/W2031489346","https://openalex.org/W2107223339","https://openalex.org/W2108598243","https://openalex.org/W2115579991","https://openalex.org/W2193145675","https://openalex.org/W2216125271","https://openalex.org/W2252355370","https://openalex.org/W2583121115","https://openalex.org/W2603203130","https://openalex.org/W2963037989","https://openalex.org/W2963150697","https://openalex.org/W2964062501","https://openalex.org/W3000845761","https://openalex.org/W3010268791","https://openalex.org/W3035461736","https://openalex.org/W3090951784","https://openalex.org/W3132607695","https://openalex.org/W3186678659","https://openalex.org/W3195380476","https://openalex.org/W4214936898","https://openalex.org/W4224444638","https://openalex.org/W4288083516","https://openalex.org/W4312281374","https://openalex.org/W4312707458","https://openalex.org/W4386075690","https://openalex.org/W6749810415","https://openalex.org/W6760834845","https://openalex.org/W6777046832","https://openalex.org/W6783508657"],"related_works":["https://openalex.org/W4319317934","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","https://openalex.org/W4221065211"],"abstract_inverted_index":{"The":[0],"increasing":[1],"adoption":[2],"of":[3,43,50,93,181,194],"human-robot":[4],"interaction":[5],"presents":[6],"opportunities":[7],"for":[8,67,86,112,166],"technology":[9],"to":[10,55,90,107,147,173,189],"positively":[11],"impact":[12],"lives,":[13],"particularly":[14],"those":[15],"with":[16,162],"visual":[17],"impairments,":[18],"through":[19],"applications":[20],"such":[21,38,110],"as":[22,111,136],"guide-dog-like":[23],"assistive":[24],"robotics.":[25],"We":[26],"present":[27],"a":[28,39,137,175,187],"pipeline":[29],"exploring":[30],"the":[31,84,91,94,148,167,171,178,192,201],"perception":[32],"and":[33,48,58,121,126,155,185,196],"\"intelligent":[34],"disobedience\"":[35],"required":[36],"by":[37,118],"system.":[40],"A":[41],"dataset":[42,146],"two":[44,168],"people":[45,169],"moving":[46],"in":[47,75,170,177,191,200],"out":[49],"view":[51],"has":[52],"been":[53],"prepared":[54],"compare":[56],"RGB-based":[57],"event-based":[59,102],"multi-modal":[60],"dynamic":[61],"object":[62],"detection":[63,96,103],"using":[64,79,133],"LiDAR":[65],"data":[66,160],"3D":[68,77],"position":[69],"localisation.":[70],"Our":[71],"analysis":[72],"highlights":[73],"challenges":[74],"accurate":[76],"localisation":[78],"2D":[80],"image-LiDAR":[81],"fusion,":[82],"indicating":[83],"need":[85],"further":[87],"refinement.":[88],"Compared":[89],"performance":[92],"frame-based":[95,134],"algorithm":[97],"utilised":[98],"(YOLOv4),":[99],"current":[100,179],"cutting-edge":[101],"models":[104],"appear":[105],"limited":[106],"contextual":[108],"scenarios,":[109],"automotive":[113],"platforms.":[114],"This":[115],"is":[116],"highlighted":[117],"weak":[119],"precision":[120],"recall":[122],"over":[123,128],"varying":[124],"confidence":[125],"Intersection":[127],"Union":[129],"(IoU)":[130],"thresholds":[131],"when":[132],"detections":[135],"ground":[138,163],"truth.":[139],"Therefore,":[140],"we":[141],"have":[142],"publicly":[143,182],"released":[144],"this":[145],"community,":[149],"containing":[150],"RGB,":[151],"event,":[152],"point":[153],"cloud":[154],"Inertial":[156],"Measurement":[157],"Unit":[158],"(IMU)":[159],"along":[161],"truth":[164],"poses":[165],"scene":[172],"fill":[174],"gap":[176],"landscape":[180],"available":[183],"datasets":[184],"provide":[186],"means":[188],"assist":[190],"development":[193],"safer":[195],"more":[197],"robust":[198],"algorithms":[199],"future:":[202],"https://uts-ri.github.io/revel/.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}