{"id":"https://openalex.org/W4401414089","doi":"https://doi.org/10.1109/icra57147.2024.10611191","title":"SG-RoadSeg: End-to-End Collision-Free Space Detection Sharing Encoder Representations Jointly Learned via Unsupervised Deep Stereo","display_name":"SG-RoadSeg: End-to-End Collision-Free Space Detection Sharing Encoder Representations Jointly Learned via Unsupervised Deep Stereo","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414089","doi":"https://doi.org/10.1109/icra57147.2024.10611191"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611191","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":"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/A5114860663","display_name":"Zhiyuan Wu","orcid":"https://orcid.org/0009-0001-7253-7603"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Wu","raw_affiliation_strings":["Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100325956","display_name":"Jiaqi Li","orcid":"https://orcid.org/0000-0002-9086-5993"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaqi Li","raw_affiliation_strings":["Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100629984","display_name":"Yi Feng","orcid":"https://orcid.org/0009-0005-4885-0850"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Feng","raw_affiliation_strings":["Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037285766","display_name":"Chengju Liu","orcid":"https://orcid.org/0000-0001-7543-0855"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengju Liu","raw_affiliation_strings":["Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100448683","display_name":"Wei Ye","orcid":"https://orcid.org/0000-0001-8096-0922"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Ye","raw_affiliation_strings":["Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073789459","display_name":"Qijun Chen","orcid":"https://orcid.org/0000-0001-5644-1188"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qijun Chen","raw_affiliation_strings":["Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007508326","display_name":"Rui Fan","orcid":"https://orcid.org/0000-0001-8768-932X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Fan","raw_affiliation_strings":["Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,College of Electronics &#x0026; Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai,P. R. China,201804","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11063","last_page":"11069"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9990000128746033,"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":0.9990000128746033,"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/computer-science","display_name":"Computer science","score":0.7340930700302124},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.6660856008529663},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5878626704216003},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5530991554260254},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5116389393806458},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4602111876010895},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.4196758270263672},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3235424757003784},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08651426434516907}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7340930700302124},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6660856008529663},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5878626704216003},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5530991554260254},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5116389393806458},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4602111876010895},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.4196758270263672},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3235424757003784},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08651426434516907},{"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/icra57147.2024.10611191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611191","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W2112921976","https://openalex.org/W2150066425","https://openalex.org/W2159132531","https://openalex.org/W2167222293","https://openalex.org/W2194775991","https://openalex.org/W2520707372","https://openalex.org/W2560023338","https://openalex.org/W2587989515","https://openalex.org/W2743627947","https://openalex.org/W2774839435","https://openalex.org/W2787091153","https://openalex.org/W2916798096","https://openalex.org/W2921749009","https://openalex.org/W2963446712","https://openalex.org/W2963583471","https://openalex.org/W2963619659","https://openalex.org/W2963881378","https://openalex.org/W2969350702","https://openalex.org/W2979872609","https://openalex.org/W3048395011","https://openalex.org/W3080961686","https://openalex.org/W3087980862","https://openalex.org/W3105378872","https://openalex.org/W3111807772","https://openalex.org/W3190666950","https://openalex.org/W3196904463","https://openalex.org/W4226265017","https://openalex.org/W4283327872","https://openalex.org/W4312556291","https://openalex.org/W4312688875","https://openalex.org/W4312871721","https://openalex.org/W4372203520","https://openalex.org/W4385473679","https://openalex.org/W4386075579","https://openalex.org/W4386562919","https://openalex.org/W4387413518","https://openalex.org/W4391128608","https://openalex.org/W4401417319","https://openalex.org/W6631190155"],"related_works":["https://openalex.org/W3179968364","https://openalex.org/W3113932901","https://openalex.org/W650625605","https://openalex.org/W1999612375","https://openalex.org/W2938107654","https://openalex.org/W4390516098","https://openalex.org/W2801025257","https://openalex.org/W2151749779","https://openalex.org/W2551285827","https://openalex.org/W3008587939"],"abstract_inverted_index":{"Collision-free":[0],"space":[1,96,207],"detection":[2,97,208],"is":[3,72,115],"of":[4,28,40,55,81,112,159,189],"utmost":[5],"importance":[6],"for":[7,68,118],"autonomous":[8],"robot":[9],"perception":[10,170],"and":[11,22,49,129,145,183,193,215],"navigation.":[12],"State-of-the-art":[13],"(SoTA)":[14],"approaches":[15,60],"generally":[16],"extract":[17],"features":[18,45,136],"from":[19,138],"RGB":[20,139],"images":[21,140],"an":[23,155],"additional":[24],"source":[25,211],"or":[26,34,74],"modality":[27],"3-D":[29,69],"information,":[30],"such":[31],"as":[32,101,154],"depth":[33],"disparity":[35,162],"images,":[36],"using":[37],"a":[38,92,116],"pair":[39],"independent":[41],"encoders.":[42],"The":[43,149],"extracted":[44,137],"are":[46,123,217],"subsequently":[47],"fused":[48],"decoded":[50],"to":[51,100,141],"yield":[52],"semantic":[53,127,144],"predictions":[54],"collision-free":[56,95,206],"spaces.":[57],"Such":[58],"feature-fusion":[59],"become":[61],"infeasible":[62],"in":[63],"scenarios,":[64],"where":[65],"the":[66,82,135,180,187],"sensor":[67],"information":[70],"acquisition":[71],"unavailable,":[73],"just":[75],"when":[76],"multi-sensor":[77],"calibration":[78],"falls":[79],"short":[80],"necessary":[83],"precision.":[84],"To":[85],"overcome":[86],"these":[87],"limitations,":[88],"this":[89,113],"paper":[90,114],"introduces":[91],"novel":[93],"end-to-end":[94],"network,":[98],"referred":[99],"SG-RoadSeg,":[102],"built":[103],"upon":[104],"our":[105,190],"previous":[106],"work":[107],"SNE-RoadSeg.":[108],"A":[109],"key":[110],"contribution":[111],"strategy":[117],"sharing":[119,196],"encoder":[120,194],"representations":[121],"that":[122,164,172],"co-learned":[124],"through":[125],"both":[126,143],"segmentation":[128],"unsupervised":[130,150],"stereo":[131,152],"matching":[132],"tasks,":[133],"enabling":[134],"contain":[142],"spatial":[146],"geometric":[147],"information.":[148],"deep":[151],"serves":[153],"auxiliary":[156],"functionality,":[157],"capable":[158],"generating":[160],"accurate":[161],"maps":[163],"can":[165],"be":[166],"used":[167],"by":[168],"other":[169,204],"tasks":[171],"require":[173],"depth-related":[174],"data.":[175],"Comprehensive":[176],"experimental":[177],"results":[178],"on":[179],"KITTI":[181],"road":[182],"semantics":[184],"datasets":[185],"validate":[186],"effectiveness":[188],"proposed":[191],"architecture":[192],"representation":[195],"strategy.":[197],"SG-RoadSeg":[198],"also":[199],"demonstrates":[200],"superior":[201],"performance":[202],"than":[203],"SoTA":[205],"approaches.":[209],"Our":[210],"code,":[212],"demo":[213],"video,":[214],"supplement":[216],"publicly":[218],"available":[219],"at":[220],"mias.group/SG-RoadSeg.":[221]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
