{"id":"https://openalex.org/W3205343065","doi":"https://doi.org/10.1109/icra48506.2021.9561299","title":"Efficient and Robust LiDAR-Based End-to-End Navigation","display_name":"Efficient and Robust LiDAR-Based End-to-End Navigation","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205343065","doi":"https://doi.org/10.1109/icra48506.2021.9561299","mag":"3205343065"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561299","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100750264","display_name":"Zhijian Liu","orcid":"https://orcid.org/0000-0003-3632-9986"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhijian Liu","raw_affiliation_strings":["Microsystems Technology Laboratories (MTL), Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsystems Technology Laboratories (MTL), Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010146439","display_name":"Alexander Amini","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Amini","raw_affiliation_strings":["Computer Science and Artificial Intelligence Lab (CSAIL), Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab (CSAIL), Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008698451","display_name":"Sibo Zhu","orcid":"https://orcid.org/0000-0003-4800-8987"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sibo Zhu","raw_affiliation_strings":["Microsystems Technology Laboratories (MTL), Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsystems Technology Laboratories (MTL), Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sertac Karaman","raw_affiliation_strings":["Laboratory for Information and Decision Systems (LIDS), Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems (LIDS), Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070926896","display_name":"Song Han","orcid":"https://orcid.org/0000-0002-4186-7618"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Song Han","raw_affiliation_strings":["Microsystems Technology Laboratories (MTL), Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsystems Technology Laboratories (MTL), Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela L. Rus","raw_affiliation_strings":["Computer Science and Artificial Intelligence Lab (CSAIL), Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab (CSAIL), Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13247","last_page":"13254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9987999796867371,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/robustness","display_name":"Robustness (evolution)","score":0.8501241207122803},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.8393682241439819},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.77958744764328},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7161920070648193},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5568851232528687},{"id":"https://openalex.org/keywords/memory-footprint","display_name":"Memory footprint","score":0.5507996678352356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5100329518318176},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4460082948207855},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.43001458048820496},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3512413203716278},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.11966198682785034}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8501241207122803},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.8393682241439819},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.77958744764328},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7161920070648193},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5568851232528687},{"id":"https://openalex.org/C74912251","wikidata":"https://www.wikidata.org/wiki/Q6815727","display_name":"Memory footprint","level":2,"score":0.5507996678352356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5100329518318176},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4460082948207855},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.43001458048820496},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3512413203716278},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.11966198682785034},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561299","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":73,"referenced_works":["https://openalex.org/W582134693","https://openalex.org/W1522301498","https://openalex.org/W1719489212","https://openalex.org/W1989750313","https://openalex.org/W2021063678","https://openalex.org/W2054969198","https://openalex.org/W2064675550","https://openalex.org/W2118429180","https://openalex.org/W2123487311","https://openalex.org/W2148820580","https://openalex.org/W2194775991","https://openalex.org/W2342840547","https://openalex.org/W2545512414","https://openalex.org/W2556802233","https://openalex.org/W2559767995","https://openalex.org/W2560609797","https://openalex.org/W2600473424","https://openalex.org/W2737234477","https://openalex.org/W2774740309","https://openalex.org/W2806471870","https://openalex.org/W2886851211","https://openalex.org/W2889923199","https://openalex.org/W2890556874","https://openalex.org/W2899160681","https://openalex.org/W2901453561","https://openalex.org/W2912601938","https://openalex.org/W2941908348","https://openalex.org/W2948153973","https://openalex.org/W2953399169","https://openalex.org/W2954258401","https://openalex.org/W2962894046","https://openalex.org/W2963125977","https://openalex.org/W2963182550","https://openalex.org/W2963238274","https://openalex.org/W2963263347","https://openalex.org/W2963363373","https://openalex.org/W2964059111","https://openalex.org/W2964121744","https://openalex.org/W2967975754","https://openalex.org/W2968983352","https://openalex.org/W2979750740","https://openalex.org/W2995122008","https://openalex.org/W2995726245","https://openalex.org/W2996167479","https://openalex.org/W3009808098","https://openalex.org/W3010072020","https://openalex.org/W3012494314","https://openalex.org/W3035275207","https://openalex.org/W3035617611","https://openalex.org/W3090153548","https://openalex.org/W3096541186","https://openalex.org/W3100019193","https://openalex.org/W3104141662","https://openalex.org/W3109154950","https://openalex.org/W3116005188","https://openalex.org/W4289076044","https://openalex.org/W6617145748","https://openalex.org/W6631190155","https://openalex.org/W6682324061","https://openalex.org/W6704559304","https://openalex.org/W6726497184","https://openalex.org/W6730042731","https://openalex.org/W6752745768","https://openalex.org/W6752818208","https://openalex.org/W6756079571","https://openalex.org/W6758925993","https://openalex.org/W6763422710","https://openalex.org/W6765299845","https://openalex.org/W6768698167","https://openalex.org/W6771551856","https://openalex.org/W6774612490","https://openalex.org/W6780257433","https://openalex.org/W6781600403"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4210818033","https://openalex.org/W4221065211","https://openalex.org/W3168833002"],"abstract_inverted_index":{"Deep":[0],"learning":[1,10],"has":[2],"been":[3],"used":[4],"to":[5,70],"demonstrate":[6,141],"end-to-end":[7,27,86],"neural":[8],"network":[9],"for":[11],"autonomous":[12],"vehicle":[13,139],"control":[14,129],"from":[15,119],"raw":[16],"sensory":[17],"input.":[18],"While":[19],"LiDAR":[20],"sensors":[21],"provide":[22],"reliably":[23],"accurate":[24],"information,":[25],"existing":[26],"driving":[28],"solutions":[29],"are":[30],"mainly":[31],"based":[32,95],"on":[33,96,136],"cameras":[34],"since":[35],"processing":[36],"3D":[37],"data":[38],"requires":[39],"a":[40,121,137],"large":[41],"memory":[42],"footprint":[43],"and":[44,83,101,125,140,162],"computation":[45],"cost.":[46],"On":[47],"the":[48,52,63,71,114,117,128,149,164,169],"other":[49],"hand,":[50],"increasing":[51],"robustness":[53,161],"of":[54,73,116,151,166],"these":[55],"systems":[56],"is":[57,66,94],"also":[58],"critical;":[59],"however,":[60],"even":[61],"estimating":[62],"model\u2019s":[64],"uncertainty":[65,115],"very":[67],"challenging":[68],"due":[69],"cost":[72],"sampling-based":[74],"methods.":[75],"In":[76,148],"this":[77],"paper,":[78],"we":[79],"present":[80],"an":[81],"efficient":[82],"robust":[84],"LiDAR-based":[85],"navigation":[87,146],"framework.":[88],"We":[89,105,132],"first":[90],"introduce":[91],"Fast-LiDARNet":[92],"that":[93,111],"sparse":[97],"convolution":[98],"kernel":[99],"optimization":[100],"hardware-aware":[102],"model":[103],"design.":[104],"then":[106,126],"propose":[107],"Hybrid":[108],"Evidential":[109],"Fusion":[110],"directly":[112],"estimates":[113],"prediction":[118],"only":[120],"single":[122],"forward":[123],"pass":[124],"fuses":[127],"predictions":[130],"intelligently.":[131],"evaluate":[133],"our":[134,157],"system":[135,158],"full-scale":[138],"lane-stable":[142],"as":[143,145],"well":[144],"capabilities.":[147],"presence":[150],"out-of-distribution":[152],"events":[153],"(e.g.,":[154],"sensor":[155],"failures),":[156],"significantly":[159],"improves":[160],"reduces":[163],"number":[165],"takeovers":[167],"in":[168],"real":[170],"world.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}