{"id":"https://openalex.org/W4408353673","doi":"https://doi.org/10.1109/icassp49660.2025.10889931","title":"Clutter Resilient Occlusion Avoidance for Tightly-Coupled Motion-Assisted Detection","display_name":"Clutter Resilient Occlusion Avoidance for Tightly-Coupled Motion-Assisted Detection","publication_year":2025,"publication_date":"2025-03-12","ids":{"openalex":"https://openalex.org/W4408353673","doi":"https://doi.org/10.1109/icassp49660.2025.10889931"},"language":"en","primary_location":{"id":"doi:10.1109/icassp49660.2025.10889931","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp49660.2025.10889931","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICASSP 2025 - 2025 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)","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/A5009538215","display_name":"Zhixuan Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhixuan Xie","raw_affiliation_strings":["Southern University of Science and Technology"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100410524","display_name":"Jianjun Chen","orcid":"https://orcid.org/0009-0007-9108-4965"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Chen","raw_affiliation_strings":["Southern University of Science and Technology"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100404163","display_name":"Guoliang Li","orcid":"https://orcid.org/0000-0003-1601-6640"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Guoliang Li","raw_affiliation_strings":["University of Macau"],"affiliations":[{"raw_affiliation_string":"University of Macau","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100328259","display_name":"Shuai Wang","orcid":"https://orcid.org/0000-0002-0288-4212"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Wang","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012757772","display_name":"Kejiang Ye","orcid":"https://orcid.org/0000-0001-6133-407X"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kejiang Ye","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005913897","display_name":"Yonina C. Eldar","orcid":"https://orcid.org/0000-0003-4358-5304"},"institutions":[{"id":"https://openalex.org/I53964585","display_name":"Weizmann Institute of Science","ror":"https://ror.org/0316ej306","country_code":"IL","type":"education","lineage":["https://openalex.org/I53964585"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Yonina C. Eldar","raw_affiliation_strings":["Weizmann Institute of Science"],"affiliations":[{"raw_affiliation_string":"Weizmann Institute of Science","institution_ids":["https://openalex.org/I53964585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012773300","display_name":"Chengzhong Xu","orcid":"https://orcid.org/0000-0001-9480-0356"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Chengzhong Xu","raw_affiliation_strings":["University of Macau"],"affiliations":[{"raw_affiliation_string":"University of Macau","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5009538215"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04244817,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/T10531","display_name":"Advanced Vision and Imaging","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/T11105","display_name":"Advanced Image Processing Techniques","score":0.9919999837875366,"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/T13579","display_name":"Image and Video Stabilization","score":0.9912999868392944,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.8487364053726196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5771144032478333},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4720227122306824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47019729018211365},{"id":"https://openalex.org/keywords/occlusion","display_name":"Occlusion","score":0.4188501238822937},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.15704834461212158},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1175709068775177},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06374853849411011}],"concepts":[{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.8487364053726196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5771144032478333},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4720227122306824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47019729018211365},{"id":"https://openalex.org/C2776268601","wikidata":"https://www.wikidata.org/wiki/Q968808","display_name":"Occlusion","level":2,"score":0.4188501238822937},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.15704834461212158},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1175709068775177},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06374853849411011},{"id":"https://openalex.org/C164705383","wikidata":"https://www.wikidata.org/wiki/Q10379","display_name":"Cardiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icassp49660.2025.10889931","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp49660.2025.10889931","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICASSP 2025 - 2025 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321655","display_name":"Science and Technology Development Fund","ror":"https://ror.org/044vr6g03"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1996215314","https://openalex.org/W2115579991","https://openalex.org/W2221524898","https://openalex.org/W2508393166","https://openalex.org/W2587088476","https://openalex.org/W2897529137","https://openalex.org/W2940377734","https://openalex.org/W2963689432","https://openalex.org/W2996759437","https://openalex.org/W3008115128","https://openalex.org/W3015470607","https://openalex.org/W3207475467","https://openalex.org/W3209492493","https://openalex.org/W4283833094","https://openalex.org/W4285118193","https://openalex.org/W4285250753","https://openalex.org/W4311816926","https://openalex.org/W4312678716","https://openalex.org/W4319069051","https://openalex.org/W4386230607","https://openalex.org/W4386524676","https://openalex.org/W4388819763","https://openalex.org/W4400772220","https://openalex.org/W6696497002","https://openalex.org/W6745935785","https://openalex.org/W6802966573"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Occlusion":[0],"is":[1,53,69],"a":[2,12,31,111,128],"key":[3],"factor":[4],"leading":[5],"to":[6,26,40,67,70],"detection":[7,14,98,125],"failures.":[8],"This":[9],"paper":[10],"proposes":[11],"motion-assisted":[13],"(MAD)":[15],"method":[16],"that":[17,44,104],"actively":[18],"plans":[19],"an":[20],"executable":[21],"path,":[22],"for":[23],"the":[24,28,50,72,81],"robot":[25],"observe":[27],"target":[29],"at":[30],"new":[32],"viewpoint":[33],"with":[34,93],"potentially":[35],"reduced":[36],"occlusion.":[37],"In":[38],"contrast":[39],"existing":[41],"MAD":[42,92,108],"approaches":[43],"may":[45],"fail":[46],"in":[47,55,117,127],"cluttered":[48],"environments,":[49],"proposed":[51],"framework":[52],"robust":[54],"such":[56],"scenarios,":[57],"therefore":[58],"termed":[59],"clutter":[60],"resilient":[61],"occlusion":[62,73,122],"avoidance":[63,78],"(CROA).":[64],"The":[65,88],"crux":[66],"CROA":[68,105],"minimize":[71],"probability":[74],"under":[75,110],"polyhedron-based":[76],"collision":[77],"constraints":[79],"via":[80],"convex-concave":[82],"procedure":[83],"and":[84,99,124],"duality-based":[85],"bilevel":[86],"optimization.":[87],"system":[89],"supports":[90],"lidar-based":[91],"intertwined":[94],"execution":[95],"of":[96,119],"learning-based":[97],"optimization-based":[100],"planning.":[101],"Experiments":[102],"show":[103],"outperforms":[106],"various":[107],"schemes":[109],"sparse":[112],"convolutional":[113],"neural":[114],"network":[115],"detector,":[116],"terms":[118],"point":[120],"density,":[121],"ratio,":[123],"error,":[126],"multi-lane":[129],"urban":[130],"driving":[131],"scenario.":[132]},"counts_by_year":[],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}