{"id":"https://openalex.org/W3091037965","doi":"https://doi.org/10.1109/icra40945.2020.9197370","title":"Proximity Estimation Using Vision Features Computed On Sensor","display_name":"Proximity Estimation Using Vision Features Computed On Sensor","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091037965","doi":"https://doi.org/10.1109/icra40945.2020.9197370","mag":"3091037965"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197370","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100613502","display_name":"Jianing Chen","orcid":"https://orcid.org/0000-0002-7525-1424"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jianing Chen","raw_affiliation_strings":["Department of Electrical & Electronic Engineering, The University of Manchester, Manchester, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Electronic Engineering, The University of Manchester, Manchester, United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101898207","display_name":"Yanan Liu","orcid":"https://orcid.org/0000-0002-7095-0883"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yanan Liu","raw_affiliation_strings":["Bristol Robotics Laboratory, Faculty of Engineering, University of Bristol, Bristol, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, Faculty of Engineering, University of Bristol, Bristol, United Kingdom","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101091454","display_name":"Stephen J. Carey","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Stephen J. Carey","raw_affiliation_strings":["Department of Electrical & Electronic Engineering, The University of Manchester, Manchester, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Electronic Engineering, The University of Manchester, Manchester, United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057658631","display_name":"Piotr Dudek","orcid":"https://orcid.org/0000-0002-6511-6165"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Piotr Dudek","raw_affiliation_strings":["Department of Electrical & Electronic Engineering, The University of Manchester, Manchester, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Electronic Engineering, The University of Manchester, Manchester, United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1099,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.77774845,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2689","last_page":"2695"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7391684055328369},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6810041666030884},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6463791131973267},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.591606616973877},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5828249454498291},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.548678457736969},{"id":"https://openalex.org/keywords/processor-array","display_name":"Processor array","score":0.5205243825912476},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.5093265771865845},{"id":"https://openalex.org/keywords/chip","display_name":"Chip","score":0.46805495023727417},{"id":"https://openalex.org/keywords/simd","display_name":"SIMD","score":0.4543142318725586},{"id":"https://openalex.org/keywords/image-sensor","display_name":"Image sensor","score":0.4500867426395416},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.4447338581085205},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.24458497762680054}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7391684055328369},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6810041666030884},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6463791131973267},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.591606616973877},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5828249454498291},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.548678457736969},{"id":"https://openalex.org/C2776189500","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Processor array","level":2,"score":0.5205243825912476},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.5093265771865845},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.46805495023727417},{"id":"https://openalex.org/C150552126","wikidata":"https://www.wikidata.org/wiki/Q339387","display_name":"SIMD","level":2,"score":0.4543142318725586},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.4500867426395416},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.4447338581085205},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.24458497762680054},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197370","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/a2086bdd-e224-4ea9-b816-f681d7aec1d8","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/a2086bdd-e224-4ea9-b816-f681d7aec1d8","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Chen, J, Liu, Y, Carey, S J & Dudek, P 2020, Proximity Estimation Using Vision Features Computed on Sensor. in 2020 IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, IEEE, Paris, France, pp. 2689-2695. https://doi.org/10.1109/ICRA40945.2020.9197370","raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5952015939","display_name":null,"funder_award_id":"EP/M019454/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8199637266","display_name":null,"funder_award_id":"EP/M019284/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W127013308","https://openalex.org/W1968353223","https://openalex.org/W1986327281","https://openalex.org/W2023200581","https://openalex.org/W2060791715","https://openalex.org/W2104154890","https://openalex.org/W2111589119","https://openalex.org/W2119112357","https://openalex.org/W2131071980","https://openalex.org/W2131785162","https://openalex.org/W2133233905","https://openalex.org/W2140638079","https://openalex.org/W2598706937","https://openalex.org/W2609883120","https://openalex.org/W2735562682","https://openalex.org/W2894945169","https://openalex.org/W2944672121","https://openalex.org/W2969355370","https://openalex.org/W3106440972","https://openalex.org/W6605126162"],"related_works":["https://openalex.org/W196565075","https://openalex.org/W2124671412","https://openalex.org/W4361247890","https://openalex.org/W2156571376","https://openalex.org/W2096870795","https://openalex.org/W2495828995","https://openalex.org/W2165326264","https://openalex.org/W2539069741","https://openalex.org/W2378240303","https://openalex.org/W1984759516"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,23,32,40,146],"monocular":[4],"vision":[5,33,38,48,101],"based":[6],"proximity":[7,109,138],"estimation":[8],"system":[9,34],"using":[10,31],"abstract":[11],"features,":[12],"such":[13],"as":[14,20],"corner":[15],"points,":[16],"blobs":[17],"and":[18,42,69,79,103],"edges,":[19],"inputs":[21],"to":[22,66,115,135,139,151,163,173,180],"neural":[24,121,131,164],"network.":[25],"An":[26],"experimental":[27],"vehicle":[28],"was":[29,64,133,167],"built":[30],"integrating":[35],"the":[36,71,76,93,100,104,137,140,157,171,183],"SCAMP-5":[37],"chip,":[39],"micro-controller,":[41],"an":[43],"RC":[44],"model":[45],"car.":[46],"The":[47,59,129,154],"chip":[49,63],"includes":[50],"image":[51,161],"sensor":[52],"with":[53,123],"embedded":[54],"256\u00d7256":[55],"processor":[56,61],"SIMD":[57],"array.":[58],"pixel":[60],"array":[62],"programmed":[65],"capture":[67,162],"images":[68],"run":[70],"feature":[72,87],"algorithms":[73],"directly":[74],"on":[75],"focal":[77],"plane,":[78],"then":[80],"digest":[81],"them":[82],"so":[83],"that":[84],"only":[85],"sparse":[86],"description":[88],"data":[89,112],"were":[90,113],"read-out":[91],"in":[92,182],"form":[94],"of":[95,142,156],"40":[96],"values.":[97],"By":[98],"logging":[99],"output":[102,105],"from":[106,160],"three":[107,117],"infrared":[108],"sensors,":[110],"training":[111],"obtained":[114],"train":[116],"fully":[118],"connected":[119],"layer-recurrent":[120],"networks":[122],"fewer":[124],"than":[125],"700":[126],"parameters":[127],"each.":[128],"trained":[130],"network":[132,165],"able":[134],"estimate":[136],"level":[141],"accuracy":[143],"sufficient":[144],"for":[145],"reactive":[147],"collision":[148],"avoidance":[149],"behaviour":[150],"be":[152],"achieved.":[153],"latency":[155],"control":[158],"system,":[159],"output,":[166],"under":[168],"4ms,":[169],"enabling":[170],"vehicles":[172],"avoid":[174],"obstacles":[175],"while":[176],"moving":[177],"at":[178],"0.64m/s":[179],"1.8m/s":[181],"experiment.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
