{"id":"https://openalex.org/W7118871140","doi":"https://doi.org/10.1109/indin64977.2025.11279025","title":"DiffOGMP: Diffusion Model for Stochastic Occupancy Grid Map Prediction in Dynamic Scenes","display_name":"DiffOGMP: Diffusion Model for Stochastic Occupancy Grid Map Prediction in Dynamic Scenes","publication_year":2025,"publication_date":"2025-07-12","ids":{"openalex":"https://openalex.org/W7118871140","doi":"https://doi.org/10.1109/indin64977.2025.11279025"},"language":null,"primary_location":{"id":"doi:10.1109/indin64977.2025.11279025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin64977.2025.11279025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 23rd International Conference on Industrial Informatics (INDIN)","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/A5122121385","display_name":"Yunfei Lei","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunfei Lei","raw_affiliation_strings":["Beihang University,Hangzhou International Innovation Institute;School of Transportation Science and Engineering,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,Hangzhou International Innovation Institute;School of Transportation Science and Engineering,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046916705","display_name":"Jiarui Zhao","orcid":"https://orcid.org/0000-0001-8267-0670"},"institutions":[{"id":"https://openalex.org/I4210127216","display_name":"Ministry of Transport","ror":"https://ror.org/031wq1t38","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210127216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiarui Zhao","raw_affiliation_strings":["Beihang University,School of Transportation Science and Engineering; State Key Lab of Intelligent Transportation System,The Key Laboratory of Autonomous Transportation Technology for Special Vehicles; Ministry of Industry and Information Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Transportation Science and Engineering; State Key Lab of Intelligent Transportation System,The Key Laboratory of Autonomous Transportation Technology for Special Vehicles; Ministry of Industry and Information Technology,Beijing,China","institution_ids":["https://openalex.org/I4210127216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122226466","display_name":"Shengdi Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127216","display_name":"Ministry of Transport","ror":"https://ror.org/031wq1t38","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210127216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengdi Sun","raw_affiliation_strings":["Beihang University,School of Transportation Science and Engineering; State Key Lab of Intelligent Transportation System,The Key Laboratory of Autonomous Transportation Technology for Special Vehicles; Ministry of Industry and Information Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Transportation Science and Engineering; State Key Lab of Intelligent Transportation System,The Key Laboratory of Autonomous Transportation Technology for Special Vehicles; Ministry of Industry and Information Technology,Beijing,China","institution_ids":["https://openalex.org/I4210127216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102794843","display_name":"C. X. Du","orcid":"https://orcid.org/0009-0003-8390-9411"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyang Du","raw_affiliation_strings":["Beihang University,School of Software,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Software,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012520628","display_name":"Xirui Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xirui Wu","raw_affiliation_strings":["Beihang University,Scool of Software; National Key Laboratory of Complex Critical Software Environments,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,Scool of Software; National Key Laboratory of Complex Critical Software Environments,Beijing,China","institution_ids":["https://openalex.org/I4210128818"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100370396","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0002-0579-3041"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["Beihang University,Hangzhou International Innovation Institute;School of Transportation Science and Engineering,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,Hangzhou International Innovation Institute;School of Transportation Science and Engineering,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.5074999928474426,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.5074999928474426,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.1615999937057495,"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"}},{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.09480000287294388,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.8159999847412109},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.7319999933242798},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6230000257492065},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.5870000123977661},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5406000018119812},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5331000089645386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5230000019073486},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.40070000290870667}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.8159999847412109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8012999892234802},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.7319999933242798},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6230000257492065},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.5870000123977661},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5406000018119812},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5331000089645386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5230000019073486},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5026000142097473},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.40070000290870667},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36399999260902405},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.35659998655319214},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3555999994277954},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.34279999136924744},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3212999999523163},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.29440000653266907},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29350000619888306},{"id":"https://openalex.org/C2778136018","wikidata":"https://www.wikidata.org/wiki/Q10350689","display_name":"Predictive power","level":2,"score":0.2786000072956085},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26579999923706055},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C90312973","wikidata":"https://www.wikidata.org/wiki/Q7449052","display_name":"Semantic data model","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2556999921798706},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C45804977","wikidata":"https://www.wikidata.org/wiki/Q7239673","display_name":"Predictive modelling","level":2,"score":0.25360000133514404},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.25279998779296875}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/indin64977.2025.11279025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin64977.2025.11279025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 23rd International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2962721463","https://openalex.org/W2963121817","https://openalex.org/W2968337686","https://openalex.org/W2968343722","https://openalex.org/W2990956645","https://openalex.org/W3034426027","https://openalex.org/W3035574168","https://openalex.org/W3116651890","https://openalex.org/W3156216502","https://openalex.org/W3195092934","https://openalex.org/W3207227729","https://openalex.org/W4206055888","https://openalex.org/W4385245566","https://openalex.org/W4402754122","https://openalex.org/W4404892945"],"related_works":[],"abstract_inverted_index":{"To":[0,50],"enable":[1],"autonomous":[2,135],"mobile":[3,136],"robots":[4],"to":[5,17,26,75,107],"navigate":[6,27],"safely":[7],"and":[8,44,62,87,98,116,176],"efficiently":[9],"in":[10,69,163],"crowded":[11,70],"environments,":[12],"an":[13],"effective":[14],"way":[15],"is":[16],"predict":[18],"future":[19],"occupancy":[20,35,77],"states":[21],"of":[22,132],"their":[23,84],"local":[24],"surroundings":[25],"proactively.":[28],"However,":[29],"most":[30],"prior":[31],"works":[32],"focus":[33],"on":[34,149],"grid":[36],"map":[37],"(OGM)":[38],"prediction":[39,147,152,166],"for":[40,60],"automous":[41],"driving":[42],"scenarios":[43],"typically":[45],"generates":[46],"deterministic":[47],"single-mode":[48],"predictions.":[49],"address":[51],"these":[52,109],"limitations,":[53],"we":[54,121],"present":[55],"a":[56,123],"diffusion":[57],"model-based":[58],"framework":[59,102,144],"stochastic":[61],"uncertainty-aware":[63],"OGM":[64,67,105,151,165],"prediction.":[65],"Prior":[66],"predictors":[68],"environment":[71],"settings":[72],"are":[73,178],"limited":[74],"binary":[76,150],"representations":[78],"(occupied":[79],"or":[80],"free),":[81],"which":[82],"constrain":[83],"expressive":[85],"power":[86],"ignore":[88],"even":[89],"basic":[90],"semantic":[91,111,164],"distinctions":[92],"such":[93],"as":[94],"humans,":[95],"static":[96],"obstacles,":[97],"free":[99],"space.":[100],"Our":[101],"extends":[103],"traditional":[104],"predictions":[106],"include":[108],"fundamental":[110],"categories,":[112],"enhancing":[113],"environmental":[114],"prediction,":[115],"facilitating":[117],"downstream":[118],"tasks.":[119],"Additionally,":[120],"develop":[122],"Unity-based":[124],"3D":[125],"pedestrian-robot":[126],"simulator":[127,177],"that":[128,142],"supports":[129],"teleoperation-enabled":[130],"acquisition":[131],"automatically":[133],"annotated":[134],"robot":[137],"data.":[138],"Experimental":[139],"evaluations":[140],"demonstrate":[141],"our":[143,172],"achieves":[145],"higher":[146],"accuracy":[148],"tasks":[153,167],"across":[154],"three":[155],"publicly":[156],"available":[157],"datasets,":[158],"while":[159],"achieving":[160],"promise":[161],"results":[162],"using":[168],"datasets":[169],"collected":[170],"from":[171],"simulation":[173],"environments.":[174],"Implementation":[175],"open":[179],"source":[180],"at":[181],"https://github.com/daleigehhh/DiffOGMP.":[182]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-01-08T00:00:00"}