{"id":"https://openalex.org/W2159689271","doi":"https://doi.org/10.1109/icra.2011.5979617","title":"Example-based clear path detection assisted by vanishing point estimation","display_name":"Example-based clear path detection assisted by vanishing point estimation","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2159689271","doi":"https://doi.org/10.1109/icra.2011.5979617","mag":"2159689271"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979617","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5060958969","display_name":"Qi Wu","orcid":"https://orcid.org/0000-0003-3631-256X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qi Wu","raw_affiliation_strings":["Electrical and Computer Engineering Department, Carnegie Mellon University, USA","[Electrical and Computer Engineering Dept., Carnegie Mellon University, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Electrical and Computer Engineering Dept., Carnegie Mellon University, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101462549","display_name":"Wende Zhang","orcid":"https://orcid.org/0000-0002-6293-5093"},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]},{"id":"https://openalex.org/I4210133016","display_name":"Motion Control (United States)","ror":"https://ror.org/03yjg6e54","country_code":"US","type":"company","lineage":["https://openalex.org/I4210133016"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wende Zhang","raw_affiliation_strings":["Electrical and Controls Integration Laboratory, General Motors Company Limited, USA","Electrical and Controls Integration Lab, General Motors Company, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Controls Integration Laboratory, General Motors Company Limited, USA","institution_ids":["https://openalex.org/I118136607","https://openalex.org/I4210133016"]},{"raw_affiliation_string":"Electrical and Controls Integration Lab, General Motors Company, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055345322","display_name":"B. V. K. Vijaya Kumar","orcid":"https://orcid.org/0000-0001-7126-6381"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B.V.K. Vijaya Kumar","raw_affiliation_strings":["Electrical and Computer Engineering Department, Carnegie Mellon University, USA","[Electrical and Computer Engineering Dept., Carnegie Mellon University, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Electrical and Computer Engineering Dept., Carnegie Mellon University, USA]","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6645,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.87805432,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1615","last_page":"1620"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998999834060669,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/vanishing-point","display_name":"Vanishing point","score":0.8203294277191162},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.705805778503418},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.687682032585144},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6097776293754578},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6010562777519226},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.5843788981437683},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5564802885055542},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5496082901954651},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5209828019142151},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.509556770324707},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4845392107963562},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.4691048562526703},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.455293208360672},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4519958794116974},{"id":"https://openalex.org/keywords/point-set-registration","display_name":"Point set registration","score":0.42441290616989136},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39888107776641846},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3643321990966797},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27076464891433716},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07719933986663818},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.07402727007865906},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07374641299247742}],"concepts":[{"id":"https://openalex.org/C99404194","wikidata":"https://www.wikidata.org/wiki/Q163362","display_name":"Vanishing point","level":3,"score":0.8203294277191162},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.705805778503418},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.687682032585144},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6097776293754578},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6010562777519226},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.5843788981437683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5564802885055542},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5496082901954651},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5209828019142151},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.509556770324707},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4845392107963562},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.4691048562526703},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.455293208360672},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4519958794116974},{"id":"https://openalex.org/C200336642","wikidata":"https://www.wikidata.org/wiki/Q15058706","display_name":"Point set registration","level":3,"score":0.42441290616989136},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39888107776641846},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3643321990966797},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27076464891433716},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07719933986663818},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.07402727007865906},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07374641299247742},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/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/icra.2011.5979617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979617","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1990694927","https://openalex.org/W2008068205","https://openalex.org/W2106300334","https://openalex.org/W2115340290","https://openalex.org/W2115448105","https://openalex.org/W2122246689","https://openalex.org/W2124592110","https://openalex.org/W2128004524","https://openalex.org/W2143977549","https://openalex.org/W2150856297","https://openalex.org/W2152773561","https://openalex.org/W2154989535","https://openalex.org/W2164598857","https://openalex.org/W2171011251","https://openalex.org/W6676990836"],"related_works":["https://openalex.org/W2138361487","https://openalex.org/W2115340290","https://openalex.org/W2539923485","https://openalex.org/W2612364357","https://openalex.org/W2170574795","https://openalex.org/W2136417750","https://openalex.org/W2154989535","https://openalex.org/W2131076267","https://openalex.org/W2106337294","https://openalex.org/W201193349","https://openalex.org/W1968256263","https://openalex.org/W2067562256","https://openalex.org/W2145023731","https://openalex.org/W2085615635","https://openalex.org/W2026823548","https://openalex.org/W2100712978","https://openalex.org/W2028543208","https://openalex.org/W2100808586","https://openalex.org/W2080172043","https://openalex.org/W1548110328"],"abstract_inverted_index":{"With":[0],"the":[1,7,28,33,40,43,73,110,137,140],"goal":[2],"of":[3,39,65,90,124,129,139],"avoiding":[4],"obstacles":[5],"on":[6],"road":[8,131],"using":[9],"only":[10],"a":[11,67,97],"single":[12],"camera":[13],"during":[14],"autonomous":[15],"driving,":[16],"we":[17,52,77,115],"propose":[18,78],"an":[19,54,79,87,117],"example-based":[20,55,80],"clear":[21,49,69,91,111],"path":[22,50,70,92,112],"detection":[23],"method":[24,56,84],"that":[25,42],"also":[26],"considers":[27],"additional":[29],"perspective":[30],"cue":[31],"from":[32],"estimated":[34],"vanishing":[35,44,60],"point.":[36],"First,":[37],"because":[38],"benefit":[41],"point":[45,61],"provides":[46],"knowledge":[47],"for":[48,102],"detection,":[51],"apply":[53],"to":[57,85,107,121,135],"estimate":[58],"initial":[59],"candidates.":[62],"Then,":[63],"instead":[64],"building":[66],"pre-trained":[68],"model":[71],"over":[72],"limited":[74],"training":[75],"set,":[76],"global":[81],"image":[82,104],"matching":[83],"get":[86],"approximate":[88],"idea":[89],"candidate":[93],"regions,":[94],"and":[95],"use":[96],"Gaussian":[98],"Mixture":[99],"Model":[100],"(GMM)":[101],"local":[103],"patch":[105],"modeling":[106],"further":[108],"improve":[109,122],"detection.":[113],"Finally,":[114],"develop":[116],"iterative":[118],"probabilistic":[119],"refinement":[120],"performance":[123],"both":[125],"components.":[126],"Experimental":[127],"results":[128],"real":[130],"scenes":[132],"are":[133],"presented":[134],"illustrate":[136],"effectiveness":[138],"proposed":[141],"method.":[142]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
