{"id":"https://openalex.org/W2767969486","doi":"https://doi.org/10.1109/ecmr.2017.8098682","title":"Lidar-based urban road detection by histograms of normalized inverse depths and line scanning","display_name":"Lidar-based urban road detection by histograms of normalized inverse depths and line scanning","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2767969486","doi":"https://doi.org/10.1109/ecmr.2017.8098682","mag":"2767969486"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2017.8098682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098682","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","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/A5060609514","display_name":"Shuo Gu","orcid":"https://orcid.org/0000-0002-4511-0815"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Gu","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing city, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing city, Jiangsu, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102723963","display_name":"Yigong Zhang","orcid":"https://orcid.org/0000-0002-4625-5688"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yigong Zhang","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing city, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing city, Jiangsu, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726984","display_name":"Jian Yang","orcid":"https://orcid.org/0000-0003-4800-832X"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Yang","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing city, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing city, Jiangsu, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036133825","display_name":"Hui Kong","orcid":"https://orcid.org/0000-0002-5303-0276"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Kong","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing city, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing city, Jiangsu, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I36399199"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998000264167786,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.891333818435669},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6432592868804932},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.6399953365325928},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6270907521247864},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6063682436943054},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.5721324682235718},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5670796632766724},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5015597343444824},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4756949841976166},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.44518065452575684},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.44403356313705444},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4398866891860962},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.43594419956207275},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.426543653011322},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3389223515987396},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.30544960498809814},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20723101496696472},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13851115107536316},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.11933192610740662},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09202241897583008},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07283854484558105}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.891333818435669},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6432592868804932},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.6399953365325928},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6270907521247864},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6063682436943054},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.5721324682235718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5670796632766724},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5015597343444824},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4756949841976166},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.44518065452575684},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.44403356313705444},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4398866891860962},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.43594419956207275},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.426543653011322},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3389223515987396},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.30544960498809814},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20723101496696472},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13851115107536316},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.11933192610740662},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09202241897583008},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07283854484558105},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr.2017.8098682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2017.8098682","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W33116912","https://openalex.org/W1569925765","https://openalex.org/W2027452306","https://openalex.org/W2042086752","https://openalex.org/W2071347898","https://openalex.org/W2085261163","https://openalex.org/W2092282499","https://openalex.org/W2100887497","https://openalex.org/W2104572919","https://openalex.org/W2108897342","https://openalex.org/W2115448105","https://openalex.org/W2115579991","https://openalex.org/W2117367877","https://openalex.org/W2122498056","https://openalex.org/W2138361487","https://openalex.org/W2138534490","https://openalex.org/W2143742957","https://openalex.org/W2154844948","https://openalex.org/W2159132531","https://openalex.org/W2160445453","https://openalex.org/W2163470068","https://openalex.org/W2167222293","https://openalex.org/W2526530238","https://openalex.org/W2607626645","https://openalex.org/W2737777104","https://openalex.org/W6678262344"],"related_works":["https://openalex.org/W4312559648","https://openalex.org/W2564833109","https://openalex.org/W2051964242","https://openalex.org/W2561738499","https://openalex.org/W3194508285","https://openalex.org/W2787682538","https://openalex.org/W1934896370","https://openalex.org/W1966792997","https://openalex.org/W2161215862","https://openalex.org/W2596417931"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,51],"propose":[4],"to":[5,18],"fuse":[6],"the":[7,20,35,43,67,74,93,100,112,122,130,134],"geometric":[8],"information":[9],"of":[10,25,33,38,45,56,92,129],"a":[11,15,103],"3D":[12,39,70],"Lidar":[13,40,57,71],"and":[14,42,89,105,126],"monocular":[16],"camera":[17],"detect":[19],"urban":[21],"road":[22,46,80,101,114,136],"region":[23],"ahead":[24],"an":[26,53,59],"autonomous":[27],"vehicle.":[28],"Our":[29],"method":[30],"takes":[31],"advantage":[32],"both":[34],"high":[36],"definition":[37],"data":[41],"continuity":[44],"in":[47,111],"image":[48,76],"representation.":[49],"First,":[50],"obtain":[52],"efficient":[54],"representation":[55],"data,":[58],"organized":[60],"2D":[61],"inverse":[62,95],"depth":[63],"map,":[64],"by":[65,86],"projecting":[66],"spatially":[68],"unorganized":[69],"points":[72],"onto":[73],"camera's":[75],"plane.":[77],"The":[78],"approximate":[79,113],"regions":[81],"can":[82],"be":[83],"quickly":[84],"estimated":[85],"extracting":[87],"vertical":[88],"horizontal":[90],"histograms":[91],"normalized":[94],"depths.":[96],"To":[97],"accurately":[98],"find":[99],"area,":[102],"row":[104],"column":[106],"scanning":[107],"strategy":[108],"is":[109],"applied":[110],"region.":[115],"We":[116],"have":[117],"carried":[118],"out":[119],"experiments":[120],"on":[121],"public":[123],"KITTI-Road":[124],"benchmark,":[125],"achieve":[127],"one":[128],"best":[131],"performance":[132],"among":[133],"Lidar-based":[135],"detection":[137],"methods":[138],"without":[139],"learning":[140],"procedure.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
