{"id":"https://openalex.org/W3002841451","doi":"https://doi.org/10.1109/icce-berlin47944.2019.8966217","title":"The obstacles detection for outdoor robot based on computer vision in deep learning","display_name":"The obstacles detection for outdoor robot based on computer vision in deep learning","publication_year":2019,"publication_date":"2019-09-08","ids":{"openalex":"https://openalex.org/W3002841451","doi":"https://doi.org/10.1109/icce-berlin47944.2019.8966217","mag":"3002841451"},"language":"en","primary_location":{"id":"doi:10.1109/icce-berlin47944.2019.8966217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icce-berlin47944.2019.8966217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 9th International Conference on Consumer Electronics (ICCE-Berlin)","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/A5102968461","display_name":"Hsuan Chen","orcid":"https://orcid.org/0000-0002-5771-5547"},"institutions":[{"id":"https://openalex.org/I125934054","display_name":"National United University","ror":"https://ror.org/04twccc71","country_code":"TW","type":"education","lineage":["https://openalex.org/I125934054"]},{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Hsuan Chen","raw_affiliation_strings":["National Central University,Department of Electrical Engineering,JhongLi,Taiwan","National United University,Electrical Engineering,Miao-Li,Taiwan","Department of Electrical Engineering, National Central University, JhongLi, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Central University,Department of Electrical Engineering,JhongLi,Taiwan","institution_ids":["https://openalex.org/I22265921"]},{"raw_affiliation_string":"National United University,Electrical Engineering,Miao-Li,Taiwan","institution_ids":["https://openalex.org/I125934054"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, JhongLi, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025661566","display_name":"Wen-hsin Chiu","orcid":null},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wen-Hsin Chiu","raw_affiliation_strings":["National Central University,Department of Electrical Engineering,JhongLi,Taiwan","Department of Electrical Engineering, National Central University, JhongLi, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Central University,Department of Electrical Engineering,JhongLi,Taiwan","institution_ids":["https://openalex.org/I22265921"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, JhongLi, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010618910","display_name":"Jiancheng Yu","orcid":"https://orcid.org/0000-0001-7544-4771"},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jian-Cheng Yu","raw_affiliation_strings":["National Central University,Department of Electrical Engineering,JhongLi,Taiwan","Department of Electrical Engineering, National Central University, JhongLi, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Central University,Department of Electrical Engineering,JhongLi,Taiwan","institution_ids":["https://openalex.org/I22265921"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, JhongLi, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071717800","display_name":"Hsiang-Chieh Chen","orcid":"https://orcid.org/0000-0003-0097-4318"},"institutions":[{"id":"https://openalex.org/I125934054","display_name":"National United University","ror":"https://ror.org/04twccc71","country_code":"TW","type":"education","lineage":["https://openalex.org/I125934054"]},{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hsiang-Chieh Chen","raw_affiliation_strings":["National Central University,Department of Electrical Engineering,JhongLi,Taiwan","National United University,Electrical Engineering,Miao-Li,Taiwan","Electrical Engineering, National United University, Miao-Li, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Central University,Department of Electrical Engineering,JhongLi,Taiwan","institution_ids":["https://openalex.org/I22265921"]},{"raw_affiliation_string":"National United University,Electrical Engineering,Miao-Li,Taiwan","institution_ids":["https://openalex.org/I125934054"]},{"raw_affiliation_string":"Electrical Engineering, National United University, Miao-Li, Taiwan","institution_ids":["https://openalex.org/I125934054"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113422835","display_name":"Wen-June Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wen-June Wang","raw_affiliation_strings":["National Central University,Department of Electrical Engineering,JhongLi,Taiwan","Department of Electrical Engineering, National Central University, JhongLi, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Central University,Department of Electrical Engineering,JhongLi,Taiwan","institution_ids":["https://openalex.org/I22265921"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, JhongLi, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102968461"],"corresponding_institution_ids":["https://openalex.org/I125934054","https://openalex.org/I22265921"],"apc_list":null,"apc_paid":null,"fwci":0.1012,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47385151,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"184","last_page":"188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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":0.9995999932289124,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9991999864578247,"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/T10586","display_name":"Robotic Path Planning Algorithms","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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.847646951675415},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.823616623878479},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7180712819099426},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6022870540618896},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5954897999763489},{"id":"https://openalex.org/keywords/hough-transform","display_name":"Hough transform","score":0.5090457797050476},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.504855215549469},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4787811040878296},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.462301641702652},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.42504534125328064},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.4246904253959656},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.42335814237594604},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.42161810398101807},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4210951626300812},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.39433854818344116},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3190625309944153},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15275272727012634},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13050761818885803},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10326039791107178}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.847646951675415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.823616623878479},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7180712819099426},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6022870540618896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5954897999763489},{"id":"https://openalex.org/C200518788","wikidata":"https://www.wikidata.org/wiki/Q195076","display_name":"Hough transform","level":3,"score":0.5090457797050476},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.504855215549469},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4787811040878296},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.462301641702652},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.42504534125328064},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.4246904253959656},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.42335814237594604},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.42161810398101807},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4210951626300812},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.39433854818344116},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3190625309944153},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15275272727012634},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13050761818885803},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10326039791107178},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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":1,"locations":[{"id":"doi:10.1109/icce-berlin47944.2019.8966217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icce-berlin47944.2019.8966217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 9th International Conference on Consumer Electronics (ICCE-Berlin)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1776042733","https://openalex.org/W2194775991","https://openalex.org/W2336968928","https://openalex.org/W2419448466","https://openalex.org/W2520707372","https://openalex.org/W2605938684","https://openalex.org/W4293406525","https://openalex.org/W6717372056"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W2091635186","https://openalex.org/W4381188157","https://openalex.org/W4251947321","https://openalex.org/W2011626633","https://openalex.org/W2037866696","https://openalex.org/W2027891072"],"abstract_inverted_index":{"In":[0],"this":[1],"thesis,":[2],"we":[3,177],"propose":[4],"a":[5,92,194],"guided":[6],"robot":[7,74,140,197],"with":[8,75],"deep":[9],"learning":[10],"techniques":[11],"and":[12,20,33,85,96,124,172,189,203],"machine":[13],"vision":[14],"in":[15,69,98,185],"order":[16],"to":[17,61,91,93,115,143,158,167],"predict":[18],"distance":[19,65,82],"avoid":[21,116],"obstacles.":[22],"The":[23,55,121,162,179],"training":[24],"data":[25],"images":[26],"are":[27,36,45,128],"captured":[28],"by":[29,47],"the":[30,39,43,49,63,70,73,76,81,99,105,108,119,125,139,146,150,152,160,169,175,196,200],"stereo":[31],"camera,":[32],"output":[34],"results":[35],"disparity":[37],"of":[38,52,66,107,138,154,187],"single":[40],"image.":[41,71,100],"Then,":[42],"distances":[44],"converted":[46],"using":[48],"triangulation":[50],"method":[51,164],"computer":[53],"vision.":[54],"back":[56],"propagation":[57],"neural":[58],"network":[59],"retrains":[60],"obtain":[62],"actual":[64],"each":[67],"pixel":[68],"Therefore,":[72],"monocular":[77],"camera":[78],"could":[79],"know":[80],"between":[83],"obstacles":[84,97,135],"itself.":[86],"Semantic":[87],"segmentation":[88],"is":[89,113,141,156,165,182],"utilized":[90],"distinguish":[94],"road":[95,109,155],"Fuzzy":[101],"theory":[102],"for":[103,133],"calculating":[104],"area":[106,127],"which":[110],"be":[111],"cut":[112],"designed":[114],"walking":[117],"into":[118],"intersection.":[120],"obstacle":[122,190],"depth":[123],"walkable":[126],"taken":[129],"as":[130],"an":[131],"information":[132],"avoiding":[134],"control.":[136,192],"Because":[137],"proposed":[142],"walk":[144],"on":[145],"right":[147],"side":[148],"along":[149],"road,":[151],"edge":[153],"necessary":[157],"navigate":[159],"robot.":[161],"Hough":[163],"used":[166],"find":[168],"straight":[170],"line,":[171],"then":[173],"choose":[174],"line":[176],"need.":[178],"path":[180],"planning":[181],"also":[183],"achieved":[184],"through":[186],"navigation":[188],"avoidance":[191],"As":[193],"result,":[195],"can":[198],"arrive":[199],"destination":[201],"safely":[202],"precisely.":[204]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}