{"id":"https://openalex.org/W4401414893","doi":"https://doi.org/10.1109/icra57147.2024.10610312","title":"A Framework for Real-time Generation of Multi-directional Traversability Maps in Unstructured Environments","display_name":"A Framework for Real-time Generation of Multi-directional Traversability Maps in Unstructured Environments","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414893","doi":"https://doi.org/10.1109/icra57147.2024.10610312"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610312","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610312","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5068307801","display_name":"Tao Huang","orcid":"https://orcid.org/0000-0002-5504-7848"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]},{"id":"https://openalex.org/I4391768226","display_name":"State Key Laboratory of Mechanical Transmission","ror":"https://ror.org/054scg060","country_code":null,"type":"facility","lineage":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tao Huang","raw_affiliation_strings":["Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100367436","display_name":"Gang Wang","orcid":"https://orcid.org/0000-0003-0472-8843"},"institutions":[{"id":"https://openalex.org/I4391768226","display_name":"State Key Laboratory of Mechanical Transmission","ror":"https://ror.org/054scg060","country_code":null,"type":"facility","lineage":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]},{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Wang","raw_affiliation_strings":["Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028968964","display_name":"Hongliang Liu","orcid":"https://orcid.org/0009-0006-8843-3514"},"institutions":[{"id":"https://openalex.org/I4391768226","display_name":"State Key Laboratory of Mechanical Transmission","ror":"https://ror.org/054scg060","country_code":null,"type":"facility","lineage":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]},{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongliang Liu","raw_affiliation_strings":["Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016769551","display_name":"Jun Luo","orcid":"https://orcid.org/0000-0003-1314-5631"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]},{"id":"https://openalex.org/I4391768226","display_name":"State Key Laboratory of Mechanical Transmission","ror":"https://ror.org/054scg060","country_code":null,"type":"facility","lineage":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Luo","raw_affiliation_strings":["Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101504730","display_name":"Lang Wu","orcid":"https://orcid.org/0000-0003-3756-3731"},"institutions":[{"id":"https://openalex.org/I4391768226","display_name":"State Key Laboratory of Mechanical Transmission","ror":"https://ror.org/054scg060","country_code":null,"type":"facility","lineage":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]},{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lang Wu","raw_affiliation_strings":["Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100751296","display_name":"Tao Zhu","orcid":"https://orcid.org/0000-0001-6211-4570"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhu","raw_affiliation_strings":["Chongqing University,Key Laboratory of Optoelectronic Technology and Systems, Ministry of Education,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"Chongqing University,Key Laboratory of Optoelectronic Technology and Systems, Ministry of Education,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033390427","display_name":"Huayan Pu","orcid":"https://orcid.org/0000-0001-9830-3955"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]},{"id":"https://openalex.org/I4391768226","display_name":"State Key Laboratory of Mechanical Transmission","ror":"https://ror.org/054scg060","country_code":null,"type":"facility","lineage":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huayan Pu","raw_affiliation_strings":["Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016769551","display_name":"Jun Luo","orcid":"https://orcid.org/0000-0003-1314-5631"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]},{"id":"https://openalex.org/I4391768226","display_name":"State Key Laboratory of Mechanical Transmission","ror":"https://ror.org/054scg060","country_code":null,"type":"facility","lineage":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Luo","raw_affiliation_strings":["Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments, College of Mechanical and Vehicle Engineering,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100644553","display_name":"Shuxin Wang","orcid":"https://orcid.org/0000-0002-1859-8712"},"institutions":[{"id":"https://openalex.org/I4391768226","display_name":"State Key Laboratory of Mechanical Transmission","ror":"https://ror.org/054scg060","country_code":null,"type":"facility","lineage":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]},{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuxin Wang","raw_affiliation_strings":["Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"Chongqing University,State Key Laboratory of Mechanical Transmission for Advanced Equipments,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170","https://openalex.org/I4391768226"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5068307801"],"corresponding_institution_ids":["https://openalex.org/I158842170","https://openalex.org/I4391768226"],"apc_list":null,"apc_paid":null,"fwci":1.5096,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84900157,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"18370","last_page":"18376"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962999820709229,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962999820709229,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9943000078201294,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9872000217437744,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.699443519115448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4856632947921753},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3236193060874939}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.699443519115448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4856632947921753},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3236193060874939}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610312","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610312","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4000000059604645,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320323172","display_name":"Natural Science Foundation of Chongqing","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W2023504165","https://openalex.org/W2027809320","https://openalex.org/W2194775991","https://openalex.org/W2319961868","https://openalex.org/W2507296351","https://openalex.org/W2755158994","https://openalex.org/W2913921102","https://openalex.org/W2963748958","https://openalex.org/W3003922739","https://openalex.org/W3091017652","https://openalex.org/W3093870111","https://openalex.org/W3096411729","https://openalex.org/W3099726730","https://openalex.org/W3128130598","https://openalex.org/W3193512724","https://openalex.org/W3199987976","https://openalex.org/W3204782551","https://openalex.org/W3206164009","https://openalex.org/W4210985923","https://openalex.org/W4229068835","https://openalex.org/W4281479885","https://openalex.org/W4285102258","https://openalex.org/W4285250753","https://openalex.org/W4285610291","https://openalex.org/W4287888303","https://openalex.org/W4308235815","https://openalex.org/W4312270149","https://openalex.org/W4312302744","https://openalex.org/W4312419284","https://openalex.org/W4312441173","https://openalex.org/W4312749288","https://openalex.org/W4313639585","https://openalex.org/W4383097507","https://openalex.org/W4383171997","https://openalex.org/W4386090232"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0],"complex":[1],"unstructured":[2,60],"environments,":[3],"accurate":[4],"terrain":[5,25,36,116],"traversability":[6,26,44,54,67,92,109,117,205],"analysis":[7],"is":[8,97],"a":[9,49,65,90,149,177,183],"fundamental":[10],"requirement":[11],"for":[12,51,59],"the":[13,31,39,120,125,128,168,191,197,203,207],"successful":[14],"execution":[15],"of":[16,19,41,99,127,151,167,179,186,206],"any":[17],"movements":[18],"ground":[20,75],"robots,":[21],"especially":[22],"given":[23],"that":[24,162],"often":[27],"exhibits":[28],"anisotropy.":[29],"However,":[30],"difficulty":[32],"in":[33,115],"obtaining":[34],"multi-directional":[35,43,53,91,204],"labels":[37],"hinders":[38],"emergence":[40],"end-to-end":[42],"network.":[45],"This":[46],"paper":[47],"introduces":[48],"framework":[50],"real-time":[52],"maps":[55],"(MTraMap)":[56],"generation":[57],"tailored":[58],"environments.":[61,209],"It":[62],"involves":[63],"pre-training":[64],"uni-directional":[66],"classifier,":[68],"termed":[69,94],"UniTraT,":[70,124],"through":[71],"self-supervised":[72],"learning":[73],"using":[74],"robot":[76],"travel":[77],"simulation.":[78],"Furthermore,":[79],"it":[80,138],"employs":[81],"Uni-directional":[82],"to":[83,88,123,190],"Multi-directional":[84],"Traversability":[85],"Distillation":[86],"(UMTraDistill)":[87],"distill":[89],"network,":[93],"MultiTCNN,":[95],"which":[96],"capable":[98],"directly":[100],"generating":[101],"MTraMap.":[102],"We":[103],"evaluated":[104],"both":[105],"networks":[106],"on":[107],"our":[108],"dataset,":[110],"achieving":[111],"an":[112],"89%":[113],"accuracy":[114,126],"classification":[118],"with":[119,182],"UniTraT.":[121],"Compared":[122],"MultiTCNN":[129,163],"distilled":[130],"via":[131],"UMTraDistill":[132],"only":[133],"decreases":[134],"by":[135],"1.8%,":[136],"and":[137,160,196],"can":[139,164,200],"process":[140],"10":[141,144],"m":[142,145,171,174],"\u00d7":[143,172],"elevation":[146],"map":[147],"at":[148,176],"speed":[150],"74":[152],"fps.":[153],"Field":[154],"robotics":[155],"experiments":[156],"were":[157],"also":[158],"conducted":[159],"showed":[161],"generate":[165],"MTraMap":[166,199],"surrounding":[169,208],"20":[170,173],"environment":[175],"rate":[178],"9.39":[180],"fps,":[181],"slight":[184],"reduction":[185],"0.61":[187],"fps":[188],"compared":[189],"lidar":[192],"data":[193],"publishing":[194],"rate,":[195],"generated":[198],"clearly":[201],"delineate":[202]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
