{"id":"https://openalex.org/W3091508868","doi":"https://doi.org/10.1109/ijcnn48605.2020.9206747","title":"CNN Based Perception System for Collision Avoidance in Mobile Robots using Stereo Vision","display_name":"CNN Based Perception System for Collision Avoidance in Mobile Robots using Stereo Vision","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3091508868","doi":"https://doi.org/10.1109/ijcnn48605.2020.9206747","mag":"3091508868"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn48605.2020.9206747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn48605.2020.9206747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Joint Conference on Neural Networks (IJCNN)","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/A5074200922","display_name":"Edgar Mac\u00edas-Garc\u00eda","orcid":"https://orcid.org/0000-0003-2571-9460"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Edgar Macias-Garcia","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, CINVESTAV, Guadalajara, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, CINVESTAV, Guadalajara, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018845497","display_name":"Deysy Galeana-P\u00e9rez","orcid":"https://orcid.org/0000-0003-2145-3474"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Deysy Galeana-Perez","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, CINVESTAV, Guadalajara, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, CINVESTAV, Guadalajara, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017356611","display_name":"Eduardo Bayro\u2013Corrochano","orcid":"https://orcid.org/0000-0002-4738-3593"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Eduardo Bayro-Corrochano","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, CINVESTAV, Guadalajara, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, CINVESTAV, Guadalajara, Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I68368234"],"apc_list":null,"apc_paid":null,"fwci":0.3916,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62597011,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9997000098228455,"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/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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7800711393356323},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7626575231552124},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7513279318809509},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7128428220748901},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6875609159469604},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6379885673522949},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.588863730430603},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.498760461807251},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.49609407782554626},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.48526355624198914},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4721142053604126},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.46376678347587585},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4447571635246277},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.43697819113731384},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3381795883178711},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07215139269828796}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7800711393356323},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7626575231552124},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7513279318809509},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7128428220748901},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6875609159469604},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6379885673522949},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.588863730430603},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.498760461807251},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.49609407782554626},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.48526355624198914},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4721142053604126},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.46376678347587585},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4447571635246277},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.43697819113731384},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3381795883178711},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07215139269828796},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn48605.2020.9206747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn48605.2020.9206747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W57784613","https://openalex.org/W1521785144","https://openalex.org/W1522301498","https://openalex.org/W1585377561","https://openalex.org/W1836465849","https://openalex.org/W1861492603","https://openalex.org/W1930624869","https://openalex.org/W2007339694","https://openalex.org/W2076063813","https://openalex.org/W2086724557","https://openalex.org/W2095705004","https://openalex.org/W2105934661","https://openalex.org/W2136922672","https://openalex.org/W2155893237","https://openalex.org/W2163605009","https://openalex.org/W2182396527","https://openalex.org/W2332618872","https://openalex.org/W2561824854","https://openalex.org/W2610856394","https://openalex.org/W2789120306","https://openalex.org/W2796347433","https://openalex.org/W2949117887","https://openalex.org/W2963589288","https://openalex.org/W2964121744","https://openalex.org/W2965585805","https://openalex.org/W4293584584","https://openalex.org/W4297666078","https://openalex.org/W6631190155","https://openalex.org/W6635292102","https://openalex.org/W6638667902","https://openalex.org/W6639102338","https://openalex.org/W6674330103","https://openalex.org/W6684191040","https://openalex.org/W6748736655","https://openalex.org/W6750227808"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W4381746183","https://openalex.org/W2313759312"],"abstract_inverted_index":{"In":[0,16],"this":[1],"paper,":[2],"a":[3,20,27,38,42,56,68,90,94,122,144],"CNN":[4],"based":[5],"perception":[6],"system":[7],"for":[8,41,143],"collision":[9,39,91],"avoidance":[10],"in":[11,62,77,114,131],"mobile":[12,21,148],"robots":[13],"is":[14,23],"presented.":[15],"the":[17,46,54,78,85,109,126],"considered":[18],"scenario,":[19],"robot":[22,149],"ordered":[24],"to":[25,45,66,105,116,120,137],"reach":[26],"target":[28],"on":[29,84],"its":[30],"workspace,":[31],"where":[32],"several":[33],"types":[34],"of":[35,58,70,75,112,147],"objects":[36,74,83],"influence":[37],"risk":[40,92],"suitable":[43],"movement":[44,95],"desired":[47],"goal.":[48],"To":[49],"ensure":[50],"collision-free":[51,123],"planning":[52],"through":[53],"environment,":[55,79],"set":[57,69],"convolutional":[59],"neural":[60],"networks":[61],"parallel":[63],"are":[64,103,129],"employed":[65,104],"detect":[67],"static":[71],"or":[72],"dynamic":[73],"interest":[76],"as":[80,82],"well":[81],"floor":[86],"that":[87],"could":[88],"imply":[89],"during":[93],"execution.":[96],"Afterward,":[97],"stereo":[98],"vision":[99],"and":[100,107,133,141],"filtering":[101],"algorithms":[102],"recover":[106],"track":[108],"spatial":[110],"position":[111],"detections,":[113],"order":[115],"generate":[117],"enough":[118,139],"information":[119],"plan":[121],"trajectory.":[124],"All":[125],"above":[127],"steps":[128],"evaluated":[130],"real-time":[132],"real":[134],"environments,":[135],"proving":[136],"be":[138],"robust":[140],"fast":[142],"wide":[145],"range":[146],"applications.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}