{"id":"https://openalex.org/W4402716291","doi":"https://doi.org/10.1109/cis-ram61939.2024.10672725","title":"P-SVM2: Enhancing LiDAR-based Traversability Analysis with Augmented Point Cloud Descriptor for Autonomous Mobile Systems","display_name":"P-SVM2: Enhancing LiDAR-based Traversability Analysis with Augmented Point Cloud Descriptor for Autonomous Mobile Systems","publication_year":2024,"publication_date":"2024-08-08","ids":{"openalex":"https://openalex.org/W4402716291","doi":"https://doi.org/10.1109/cis-ram61939.2024.10672725"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram61939.2024.10672725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram61939.2024.10672725","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","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/A5105407478","display_name":"Wanmeng Li","orcid":"https://orcid.org/0009-0003-1171-5685"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Wanmeng Li","raw_affiliation_strings":["University of Padua,Department of Information Engineering,Padua,Italy"],"affiliations":[{"raw_affiliation_string":"University of Padua,Department of Information Engineering,Padua,Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051258355","display_name":"Daniel Fusaro","orcid":"https://orcid.org/0009-0000-4053-5577"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniel Fusaro","raw_affiliation_strings":["University of Padua,Department of Information Engineering,Padua,Italy"],"affiliations":[{"raw_affiliation_string":"University of Padua,Department of Information Engineering,Padua,Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041937742","display_name":"Emilio Olivastri","orcid":"https://orcid.org/0000-0002-0003-5559"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Emilio Olivastri","raw_affiliation_strings":["University of Padua,Department of Information Engineering,Padua,Italy"],"affiliations":[{"raw_affiliation_string":"University of Padua,Department of Information Engineering,Padua,Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081966254","display_name":"Simone Mosco","orcid":null},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Mosco","raw_affiliation_strings":["University of Padua,Department of Information Engineering,Padua,Italy"],"affiliations":[{"raw_affiliation_string":"University of Padua,Department of Information Engineering,Padua,Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023298828","display_name":"Nicola Bellotto","orcid":"https://orcid.org/0000-0001-7950-9608"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Bellotto","raw_affiliation_strings":["University of Padua,Department of Information Engineering,Padua,Italy"],"affiliations":[{"raw_affiliation_string":"University of Padua,Department of Information Engineering,Padua,Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021255100","display_name":"Alberto Pretto","orcid":"https://orcid.org/0000-0003-1920-2887"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Pretto","raw_affiliation_strings":["University of Padua,Department of Information Engineering,Padua,Italy"],"affiliations":[{"raw_affiliation_string":"University of Padua,Department of Information Engineering,Padua,Italy","institution_ids":["https://openalex.org/I138689650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5105407478"],"corresponding_institution_ids":["https://openalex.org/I138689650"],"apc_list":null,"apc_paid":null,"fwci":0.3827,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.57253083,"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":"352","last_page":"359"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8574624061584473},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7854560017585754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6522970199584961},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.47627705335617065},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47173750400543213},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.46982860565185547},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45498126745224},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43309664726257324},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4022962749004364},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.17559465765953064},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11859238147735596},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07431694865226746}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8574624061584473},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7854560017585754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6522970199584961},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.47627705335617065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47173750400543213},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.46982860565185547},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45498126745224},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43309664726257324},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4022962749004364},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.17559465765953064},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11859238147735596},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07431694865226746},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cis-ram61939.2024.10672725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram61939.2024.10672725","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.research.unipd.it:11577/3537866","is_oa":false,"landing_page_url":"https://hdl.handle.net/11577/3537866","pdf_url":null,"source":{"id":"https://openalex.org/S4377196283","display_name":"Research Padua  Archive (University of Padua)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W569478347","https://openalex.org/W1525595943","https://openalex.org/W1986466512","https://openalex.org/W2116190966","https://openalex.org/W2145813202","https://openalex.org/W2172174906","https://openalex.org/W2560609797","https://openalex.org/W2612690371","https://openalex.org/W2737943914","https://openalex.org/W2739253758","https://openalex.org/W2768112856","https://openalex.org/W2770611768","https://openalex.org/W2892245714","https://openalex.org/W2963125977","https://openalex.org/W2963182550","https://openalex.org/W2963318716","https://openalex.org/W2963662050","https://openalex.org/W2964111902","https://openalex.org/W2968557240","https://openalex.org/W2988715931","https://openalex.org/W2990138404","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3012494314","https://openalex.org/W3035275207","https://openalex.org/W3045974612","https://openalex.org/W3090824357","https://openalex.org/W3096411729","https://openalex.org/W3120991176","https://openalex.org/W3123538634","https://openalex.org/W3127756416","https://openalex.org/W3130536106","https://openalex.org/W3132033106","https://openalex.org/W3137210930","https://openalex.org/W3177330511","https://openalex.org/W3206480303","https://openalex.org/W4312414163","https://openalex.org/W4312419284","https://openalex.org/W4386071758","https://openalex.org/W4386565873","https://openalex.org/W4389666587","https://openalex.org/W6677580257","https://openalex.org/W6739778489","https://openalex.org/W6846166657"],"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/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,52,90,93,108],"perceive":[3],"traversable":[4],"regions":[5],"is":[6,88,156],"a":[7,23],"crucial":[8],"prerequisite":[9],"for":[10],"truly":[11],"autonomous":[12],"mobile":[13],"systems.":[14],"In":[15,55],"our":[16,86],"previous":[17],"work":[18],"[8],":[19],"we":[20,58],"introduced":[21,107],"P-SVM,":[22,119],"3D":[24],"LiDAR-based":[25],"traversability":[26,151],"analysis":[27,152],"system":[28],"that":[29,65],"achieves":[30],"real-time":[31,157],"performance":[32,49,69,134],"in":[33,82,98,149,170],"CPU.":[34],"However,":[35],"by":[36],"design":[37],"P-SVM":[38],"does":[39],"not":[40],"capture":[41,109],"features":[42,75,105,125],"other":[43],"than":[44],"geometric":[45],"features,":[46],"limiting":[47],"its":[48],"and":[50,79,158,172],"generalizability":[51,173],"complex":[53],"environments.":[54],"this":[56],"work,":[57],"introduce":[59],"an":[60],"augmented":[61],"point":[62,84],"cloud":[63],"descriptor":[64],"further":[66],"improves":[67],"the":[68,83,99,116,127,144,150],"of":[70,118],"P-SVM.":[71],"By":[72],"exploiting":[73],"additional":[74],"extracted":[76],"from":[77],"remission":[78,102],"height":[80],"information":[81,111],"cloud,":[85],"model":[87,132],"able":[89],"adapt":[91],"robustly":[92],"strong":[94],"scene":[95],"changes.":[96],"Additionally,":[97],"proposed":[100],"descriptor,":[101],"radial":[103],"distribution":[104],"are":[106],"local":[110],"around":[112],"keypoints.":[113],"This":[114],"addresses":[115],"limitation":[117],"which":[120],"focuses":[121],"only":[122],"on":[123,136,143,161],"global":[124],"within":[126],"cell.":[128],"Our":[129],"new":[130],"P-SVM2":[131,155],"demonstrates":[133],"almost":[135],"par":[137],"with":[138],"state-of-the-art":[139],"deep":[140],"learning-based":[141],"methods":[142],"challenging":[145],"SemanticKITTI":[146],"[1]":[147],"dataset":[148],"task.":[153],"Notably,":[154],"relies":[159],"solely":[160],"mobile-level":[162],"CPUs.":[163],"Moreover,":[164],"surprising":[165],"results":[166],"have":[167],"been":[168],"obtained":[169],"robustness":[171],"experiments.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2024-09-22T00:00:00"}
