{"id":"https://openalex.org/W3000231253","doi":"https://doi.org/10.1109/icmlc48188.2019.8949168","title":"A Robot Obstacle Avoidance Method Using Merged CNN Framework","display_name":"A Robot Obstacle Avoidance Method Using Merged CNN Framework","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W3000231253","doi":"https://doi.org/10.1109/icmlc48188.2019.8949168","mag":"3000231253"},"language":"en","primary_location":{"id":"doi:10.1109/icmlc48188.2019.8949168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmlc48188.2019.8949168","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Machine Learning and Cybernetics (ICMLC)","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/A5065506040","display_name":"Nai-Hsiang Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I134161618","display_name":"National Taiwan Normal University","ror":"https://ror.org/059dkdx38","country_code":"TW","type":"education","lineage":["https://openalex.org/I134161618"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Nai-Hsiang Chang","raw_affiliation_strings":["National Taiwan Normal University,Department of Electrical Engineering,Taiwan","Department of Electrical Engineering, National Taiwan Normal University, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Taiwan Normal University,Department of Electrical Engineering,Taiwan","institution_ids":["https://openalex.org/I134161618"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan Normal University, Taiwan","institution_ids":["https://openalex.org/I134161618"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041742413","display_name":"Yi-Hsing Chien","orcid":null},"institutions":[{"id":"https://openalex.org/I134161618","display_name":"National Taiwan Normal University","ror":"https://ror.org/059dkdx38","country_code":"TW","type":"education","lineage":["https://openalex.org/I134161618"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yi-Hsing Chien","raw_affiliation_strings":["National Taiwan Normal University,Department of Electrical Engineering,Taiwan","Department of Electrical Engineering, National Taiwan Normal University, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Taiwan Normal University,Department of Electrical Engineering,Taiwan","institution_ids":["https://openalex.org/I134161618"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan Normal University, Taiwan","institution_ids":["https://openalex.org/I134161618"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052518335","display_name":"Hsin\u2010Han Chiang","orcid":"https://orcid.org/0000-0003-0795-0490"},"institutions":[{"id":"https://openalex.org/I134161618","display_name":"National Taiwan Normal University","ror":"https://ror.org/059dkdx38","country_code":"TW","type":"education","lineage":["https://openalex.org/I134161618"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hsin-Han Chiang","raw_affiliation_strings":["National Taiwan Normal University,Department of Electrical Engineering,Taiwan","Department of Electrical Engineering, National Taiwan Normal University, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Taiwan Normal University,Department of Electrical Engineering,Taiwan","institution_ids":["https://openalex.org/I134161618"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan Normal University, Taiwan","institution_ids":["https://openalex.org/I134161618"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034798461","display_name":"Wei\u2010Yen Wang","orcid":"https://orcid.org/0000-0003-1579-8265"},"institutions":[{"id":"https://openalex.org/I134161618","display_name":"National Taiwan Normal University","ror":"https://ror.org/059dkdx38","country_code":"TW","type":"education","lineage":["https://openalex.org/I134161618"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wei-Yen Wang","raw_affiliation_strings":["National Taiwan Normal University,Department of Electrical Engineering,Taiwan","Department of Electrical Engineering, National Taiwan Normal University, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Taiwan Normal University,Department of Electrical Engineering,Taiwan","institution_ids":["https://openalex.org/I134161618"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan Normal University, Taiwan","institution_ids":["https://openalex.org/I134161618"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089173534","display_name":"Chen\u2010Chien Hsu","orcid":"https://orcid.org/0000-0002-3697-8401"},"institutions":[{"id":"https://openalex.org/I134161618","display_name":"National Taiwan Normal University","ror":"https://ror.org/059dkdx38","country_code":"TW","type":"education","lineage":["https://openalex.org/I134161618"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chen-Chien Hsu","raw_affiliation_strings":["National Taiwan Normal University,Department of Electrical Engineering,Taiwan","Department of Electrical Engineering, National Taiwan Normal University, Taiwan"],"affiliations":[{"raw_affiliation_string":"National Taiwan Normal University,Department of Electrical Engineering,Taiwan","institution_ids":["https://openalex.org/I134161618"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan Normal University, Taiwan","institution_ids":["https://openalex.org/I134161618"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065506040"],"corresponding_institution_ids":["https://openalex.org/I134161618"],"apc_list":null,"apc_paid":null,"fwci":0.6073,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.7338349,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994999766349792,"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-science","display_name":"Computer science","score":0.8250786066055298},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7489086389541626},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7483005523681641},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7377074956893921},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6670540571212769},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6612071394920349},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.6255475282669067},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5946784019470215},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5794719457626343},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5390201807022095},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5125715732574463},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.45792824029922485},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4307858943939209},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4207739233970642},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2706814408302307}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8250786066055298},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7489086389541626},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7483005523681641},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7377074956893921},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6670540571212769},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6612071394920349},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.6255475282669067},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5946784019470215},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5794719457626343},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5390201807022095},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5125715732574463},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.45792824029922485},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4307858943939209},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4207739233970642},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2706814408302307},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmlc48188.2019.8949168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmlc48188.2019.8949168","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Machine Learning and Cybernetics (ICMLC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1674276221","https://openalex.org/W1984569571","https://openalex.org/W1996216229","https://openalex.org/W2112796928","https://openalex.org/W2197438325","https://openalex.org/W2332618872","https://openalex.org/W2505004417","https://openalex.org/W2509493982","https://openalex.org/W2565555125","https://openalex.org/W2608112326","https://openalex.org/W2732319713","https://openalex.org/W2767291354","https://openalex.org/W2794803852","https://openalex.org/W4293505591","https://openalex.org/W6702622491","https://openalex.org/W6724925041","https://openalex.org/W6740402285"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W1931898074","https://openalex.org/W2091635186","https://openalex.org/W4381188157","https://openalex.org/W4251947321","https://openalex.org/W2011626633","https://openalex.org/W2037866696"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,42],"merged":[4],"convolution":[5],"neural":[6],"network":[7],"(CNN)":[8],"framework":[9],"is":[10],"proposed":[11,51],"to":[12,36],"automatically":[13],"avoid":[14,55],"obstacles.":[15],"Although":[16],"there":[17],"are":[18],"many":[19],"methods":[20,25],"for":[21],"avoiding":[22],"obstacles,":[23],"previous":[24],"mostly":[26],"contain":[27],"high":[28,31],"energy-consuming":[29],"and":[30],"cost.":[32],"This":[33],"paper":[34],"aims":[35],"realize":[37],"an":[38],"image-based":[39],"method":[40,52],"with":[41],"monocular":[43],"webcam.":[44],"The":[45],"experimental":[46],"results":[47],"illustrate":[48],"that":[49],"the":[50],"can":[53],"effectively":[54],"obstacles":[56],"in":[57],"mobile":[58],"robot":[59],"navigation.":[60]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
