{"id":"https://openalex.org/W4401417193","doi":"https://doi.org/10.1109/icra57147.2024.10611311","title":"Thermal Voyager: A Comparative Study of RGB and Thermal Cameras for Night-Time Autonomous Navigation","display_name":"Thermal Voyager: A Comparative Study of RGB and Thermal Cameras for Night-Time Autonomous Navigation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417193","doi":"https://doi.org/10.1109/icra57147.2024.10611311"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611311","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/A5113325723","display_name":"Aditya NG","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aditya NG","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106356892","display_name":"Dhruval PB","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dhruval PB","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106356893","display_name":"Jehan Shalabi","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jehan Shalabi","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108966949","display_name":"Shubhankar Jape","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shubhankar Jape","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066843600","display_name":"Xueji Wang","orcid":"https://orcid.org/0000-0002-0006-4050"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xueji Wang","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069555028","display_name":"Zubin Jacob","orcid":"https://orcid.org/0000-0002-5602-1412"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zubin Jacob","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14116","last_page":"14122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11963","display_name":"Impact of Light on Environment and Health","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2306","display_name":"Global and Planetary Change"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11963","display_name":"Impact of Light on Environment and Health","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2306","display_name":"Global and Planetary Change"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9898999929428101,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9894999861717224,"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/thermal","display_name":"Thermal","score":0.545815110206604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5088930130004883},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4565827250480652},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3979473412036896},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3862546682357788},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.3841375410556793},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3515573740005493},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.3077768087387085},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19618219137191772},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15273794531822205},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12198212742805481}],"concepts":[{"id":"https://openalex.org/C204530211","wikidata":"https://www.wikidata.org/wiki/Q752823","display_name":"Thermal","level":2,"score":0.545815110206604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5088930130004883},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4565827250480652},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3979473412036896},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3862546682357788},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.3841375410556793},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3515573740005493},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.3077768087387085},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19618219137191772},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15273794531822205},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12198212742805481}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611311","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1497779383","https://openalex.org/W2069012301","https://openalex.org/W2155007355","https://openalex.org/W2155713971","https://openalex.org/W2158055488","https://openalex.org/W2194775991","https://openalex.org/W2342840547","https://openalex.org/W2343383542","https://openalex.org/W2736527903","https://openalex.org/W2891766795","https://openalex.org/W2902784231","https://openalex.org/W2905173465","https://openalex.org/W2911495555","https://openalex.org/W2954115742","https://openalex.org/W2955639361","https://openalex.org/W2963447367","https://openalex.org/W3081167590","https://openalex.org/W3094502228","https://openalex.org/W3096349301","https://openalex.org/W3138516171","https://openalex.org/W3190965961","https://openalex.org/W4212774754","https://openalex.org/W4214588794","https://openalex.org/W4285483923","https://openalex.org/W4312349930","https://openalex.org/W4385271156","https://openalex.org/W6631190155","https://openalex.org/W6682849425","https://openalex.org/W6704559304","https://openalex.org/W6737769214","https://openalex.org/W6745935785","https://openalex.org/W6750106230","https://openalex.org/W6766978945","https://openalex.org/W6784333009","https://openalex.org/W6796761347","https://openalex.org/W6799838802","https://openalex.org/W6840156360"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2952265190","https://openalex.org/W4236475049","https://openalex.org/W1531843206","https://openalex.org/W3137156301","https://openalex.org/W3123226753","https://openalex.org/W2027847013","https://openalex.org/W3095440986","https://openalex.org/W2002128022","https://openalex.org/W609004659"],"abstract_inverted_index":{"Achieving":[0],"reliable":[1,213],"autonomous":[2,106,207],"navigation":[3,90,165,179,208],"during":[4],"nighttime":[5,164],"remains":[6],"a":[7,43,62,68,87,125,146,203],"substantial":[8,69],"obstacle":[9],"in":[10,40,57,71,73,105],"the":[11,58,92,132,175,187,216],"field":[12],"of":[13,33,46,177,215,218],"robotics.":[14],"Although":[15],"systems":[16,180],"utilizing":[17],"Light":[18],"Detection":[19,25],"and":[20,23,26,81,123,152,192,212,224],"Ranging":[21,27],"(Li-DAR)":[22],"Radio":[24],"(RADAR)":[28],"enable":[29],"environmental":[30],"perception":[31,80,104,191],"regardless":[32],"lighting":[34],"conditions,":[35,75],"they":[36,66],"face":[37],"significant":[38],"challenges":[39],"environments":[41],"with":[42],"high":[44],"density":[45],"agents":[47],"due":[48],"to":[49,100,114,119,130,137],"their":[50],"dependence":[51],"on":[52,145],"active":[53],"emissions.":[54],"Cameras":[55],"operating":[56],"visible":[59,151],"spectrum":[60],"represent":[61],"quasi-passive":[63],"alternative,":[64],"yet":[65],"see":[67],"drop":[70],"efficiency":[72],"low-light":[74],"consequently":[76],"hindering":[77],"both":[78,210],"scene":[79,190],"path":[82],"planning.":[83],"Here,":[84],"we":[85],"introduce":[86],"novel":[88],"end-to-end":[89],"system,":[91],"\"Thermal":[93],"Voyager\",":[94],"which":[95],"leverages":[96],"infrared":[97],"thermal":[98,116,153,171,199,225],"vision":[99],"achieve":[101],"true":[102],"passive":[103,198],"entities.":[107],"The":[108],"system":[109],"utilizes":[110],"our":[111,143,222],"architecture,":[112],"TrajNet":[113,144],"interpret":[115],"visual":[117],"inputs":[118],"produce":[120],"desired":[121],"trajectories":[122],"employs":[124],"model":[126],"predictive":[127],"control":[128],"strategy":[129],"determine":[131],"optimal":[133],"steering":[134],"angles":[135],"needed":[136],"actualize":[138],"those":[139],"trajectories.":[140],"We":[141,161,220],"train":[142],"comprehensive":[147],"video":[148],"dataset":[149,227],"incorporating":[150],"footage":[154],"along-side":[155],"Controller":[156],"Area":[157],"Network":[158],"(CAN)":[159],"frames.":[160],"demonstrate":[162],"that":[163],"facilitated":[166],"by":[167,197],"Long-Wave":[168],"Infrared":[169],"(LWIR)":[170],"cameras":[172],"can":[173],"rival":[174],"performance":[176],"daytime":[178],"using":[181],"RGB":[182],"cameras.":[183],"Our":[184],"work":[185],"paves":[186],"way":[188],"for":[189],"trajectory":[193,226],"prediction":[194],"empowered":[195],"entirely":[196],"sensing":[200],"technology,":[201],"heralding":[202],"new":[204],"era":[205],"where":[206],"is":[209],"feasible":[211],"irrespective":[214],"time":[217],"day.":[219],"make":[221],"code":[223],"public1.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}