{"id":"https://openalex.org/W4401414630","doi":"https://doi.org/10.1109/icra57147.2024.10610436","title":"WayFASTER: a Self-Supervised Traversability Prediction for Increased Navigation Awareness","display_name":"WayFASTER: a Self-Supervised Traversability Prediction for Increased Navigation Awareness","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414630","doi":"https://doi.org/10.1109/icra57147.2024.10610436"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610436","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610436","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/A5018467711","display_name":"Mateus V. Gasparino","orcid":"https://orcid.org/0000-0001-7900-8061"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mateus V. Gasparino","raw_affiliation_strings":["University of Illinois at Urbana-Champaign (UIUC),Field Robotics Engineering and Science Hub (FRESH), Illinois Autonomous Farm,IL"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign (UIUC),Field Robotics Engineering and Science Hub (FRESH), Illinois Autonomous Farm,IL","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035652463","display_name":"Arun N. Sivakumar","orcid":"https://orcid.org/0000-0001-8711-9431"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arun N. Sivakumar","raw_affiliation_strings":["University of Illinois at Urbana-Champaign (UIUC),Field Robotics Engineering and Science Hub (FRESH), Illinois Autonomous Farm,IL"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign (UIUC),Field Robotics Engineering and Science Hub (FRESH), Illinois Autonomous Farm,IL","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073739058","display_name":"Girish Chowdhary","orcid":"https://orcid.org/0000-0002-4657-307X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Girish Chowdhary","raw_affiliation_strings":["University of Illinois at Urbana-Champaign (UIUC),Field Robotics Engineering and Science Hub (FRESH), Illinois Autonomous Farm,IL"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign (UIUC),Field Robotics Engineering and Science Hub (FRESH), Illinois Autonomous Farm,IL","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018467711"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":5.9138,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.96827934,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8486","last_page":"8492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9832000136375427,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11622","display_name":"Maritime Navigation and Safety","score":0.9832000136375427,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10757","display_name":"Geographic Information Systems Studies","score":0.9643999934196472,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11980","display_name":"Human Mobility and Location-Based Analysis","score":0.9580000042915344,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.63709956407547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6142405867576599},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.42664748430252075}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.63709956407547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6142405867576599},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42664748430252075}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610436","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610436","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":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1976918375","https://openalex.org/W2002111712","https://openalex.org/W2108598243","https://openalex.org/W2155487235","https://openalex.org/W2166870098","https://openalex.org/W2194775991","https://openalex.org/W2584986912","https://openalex.org/W2738778707","https://openalex.org/W2739253758","https://openalex.org/W2765757095","https://openalex.org/W2788239209","https://openalex.org/W2912063360","https://openalex.org/W2913921102","https://openalex.org/W3000916453","https://openalex.org/W3109395584","https://openalex.org/W3127756416","https://openalex.org/W3173668541","https://openalex.org/W3204271152","https://openalex.org/W4205430897","https://openalex.org/W4214530037","https://openalex.org/W4253729359","https://openalex.org/W4287888303","https://openalex.org/W4289283268","https://openalex.org/W4383108631","https://openalex.org/W4383172040","https://openalex.org/W4385430650","https://openalex.org/W4391021120","https://openalex.org/W6756392615","https://openalex.org/W6759886010","https://openalex.org/W6790920653","https://openalex.org/W6801719515"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W3046775127","https://openalex.org/W3107602296","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W4364306694","https://openalex.org/W4312192474","https://openalex.org/W4283697347"],"abstract_inverted_index":{"Accurate":[0],"and":[1,62,114],"robust":[2],"navigation":[3,161],"in":[4,53,163],"unstructured":[5],"environments":[6,56,164],"requires":[7],"fusing":[8],"data":[9,83],"from":[10,85],"multiple":[11],"sensors.":[12],"Such":[13],"fusion":[14],"ensures":[15],"that":[16,30,107,117,150],"the":[17,28,100,136,146],"robot":[18],"is":[19],"better":[20,160],"aware":[21],"of":[22,27,60,131,139,148],"its":[23,140],"surroundings,":[24,141],"including":[25],"areas":[26],"environment":[29],"are":[31,151,169],"not":[32,152],"immediately":[33,153],"visible":[34,37],"but":[35],"were":[36],"at":[38,111],"a":[39,48,58,86,92,129],"different":[40],"time.":[41],"To":[42],"solve":[43],"this":[44],"problem,":[45],"we":[46],"propose":[47],"method":[49,109],"for":[50,76,96,102],"traversability":[51,97,147],"prediction":[52],"challenging":[54],"outdoor":[55],"using":[57,128],"sequence":[59,130],"RGB":[61],"depth":[63],"images":[64],"fused":[65],"with":[66,78],"pose":[67],"estimations.":[68],"Our":[69,104],"method,":[70],"termed":[71],"WayFASTER":[72,133],"(Waypoints-Free":[73],"Autonomous":[74],"System":[75],"Traversability":[77],"Enhanced":[79],"Robustness),":[80],"uses":[81],"experience":[82],"recorded":[84],"receding":[87],"horizon":[88],"estimator":[89],"to":[90,144,159],"train":[91],"self-supervised":[93],"neural":[94],"network":[95],"prediction,":[98],"eliminating":[99],"need":[101],"heuristics.":[103],"experiments":[105],"demonstrate":[106],"our":[108],"excels":[110],"avoiding":[112],"obstacles,":[113],"correctly":[115],"detects":[116],"traversable":[118],"terrains,":[119],"such":[120,166],"as":[121],"tall":[122],"grass,":[123],"can":[124],"be":[125],"navigable.":[126],"By":[127],"images,":[132],"significantly":[134],"enhances":[135],"robot\u2019s":[137],"awareness":[138,157],"enabling":[142],"it":[143],"predict":[145],"terrains":[149],"visible.":[154],"This":[155],"enhanced":[156],"contributes":[158],"performance":[162],"where":[165],"predictive":[167],"capabilities":[168],"essential.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}