{"id":"https://openalex.org/W2080407370","doi":"https://doi.org/10.1109/iros.2010.5652380","title":"Swarm-based visual saliency for trail detection","display_name":"Swarm-based visual saliency for trail detection","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2080407370","doi":"https://doi.org/10.1109/iros.2010.5652380","mag":"2080407370"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5652380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5652380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5079603685","display_name":"Pedro Santana","orcid":"https://orcid.org/0000-0002-4357-1546"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Pedro Santana","raw_affiliation_strings":["LabMAg, Computer Science Department, University of Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"LabMAg, Computer Science Department, University of Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113709561","display_name":"Nelson Alves","orcid":null},"institutions":[{"id":"https://openalex.org/I83558840","display_name":"Universidade Nova de Lisboa","ror":"https://ror.org/02xankh89","country_code":"PT","type":"education","lineage":["https://openalex.org/I83558840"]},{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nelson Alves","raw_affiliation_strings":["IntRoSys, S.A. and UNINOVA, New University of Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"IntRoSys, S.A. and UNINOVA, New University of Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103","https://openalex.org/I83558840"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070919513","display_name":"Lu\u00eds Correia","orcid":"https://orcid.org/0000-0003-2439-1168"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Lui\u0301s Correia","raw_affiliation_strings":["LabMAg, Computer Science Department, University of Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"LabMAg, Computer Science Department, University of Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071443910","display_name":"Jos\u00e9 Barata","orcid":"https://orcid.org/0000-0002-6348-1847"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I83558840","display_name":"Universidade Nova de Lisboa","ror":"https://ror.org/02xankh89","country_code":"PT","type":"education","lineage":["https://openalex.org/I83558840"]},{"id":"https://openalex.org/I4210127031","display_name":"Uninova","ror":"https://ror.org/0373te416","country_code":"PT","type":"funder","lineage":["https://openalex.org/I4210127031"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jose\u0301 Barata","raw_affiliation_strings":["UNINOVA, New University of Lisbon, Portugal","UNINOVA-New University of Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"UNINOVA, New University of Lisbon, Portugal","institution_ids":["https://openalex.org/I4210127031","https://openalex.org/I141596103","https://openalex.org/I83558840"]},{"raw_affiliation_string":"UNINOVA-New University of Lisbon, Portugal","institution_ids":["https://openalex.org/I83558840","https://openalex.org/I141596103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5079603685"],"corresponding_institution_ids":["https://openalex.org/I141596103"],"apc_list":null,"apc_paid":null,"fwci":3.879,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.94104772,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"lncs 3663","issue":null,"first_page":"759","last_page":"765"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9998999834060669,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9998999834060669,"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/T10971","display_name":"Olfactory and Sensory Function Studies","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2809","display_name":"Sensory Systems"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9879000186920166,"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/robustness","display_name":"Robustness (evolution)","score":0.7937040328979492},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7774221897125244},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.751846194267273},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5976895093917847},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5449094772338867},{"id":"https://openalex.org/keywords/saliency-map","display_name":"Saliency map","score":0.5330195426940918},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5237217545509338},{"id":"https://openalex.org/keywords/kadir\u2013brady-saliency-detector","display_name":"Kadir\u2013Brady saliency detector","score":0.514805018901825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49949049949645996},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.49124330282211304},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.47946035861968994},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4629894495010376},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4120827913284302},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.40403982996940613},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1063840389251709}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7937040328979492},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7774221897125244},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.751846194267273},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5976895093917847},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5449094772338867},{"id":"https://openalex.org/C2779679900","wikidata":"https://www.wikidata.org/wiki/Q25304431","display_name":"Saliency map","level":3,"score":0.5330195426940918},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5237217545509338},{"id":"https://openalex.org/C202227193","wikidata":"https://www.wikidata.org/wiki/Q6345568","display_name":"Kadir\u2013Brady saliency detector","level":4,"score":0.514805018901825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49949049949645996},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.49124330282211304},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.47946035861968994},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4629894495010376},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4120827913284302},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.40403982996940613},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1063840389251709},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5652380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5652380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.177.1754","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.177.1754","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www2.uninova.pt/%7Epfs/papers/iros_2010.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1526306536","https://openalex.org/W1545699005","https://openalex.org/W1565206031","https://openalex.org/W2003912195","https://openalex.org/W2029374903","https://openalex.org/W2056384560","https://openalex.org/W2099981874","https://openalex.org/W2108753440","https://openalex.org/W2121926901","https://openalex.org/W2128272608","https://openalex.org/W2130103520","https://openalex.org/W2134531034","https://openalex.org/W2135835174","https://openalex.org/W2136869398","https://openalex.org/W2412954725","https://openalex.org/W3157685993","https://openalex.org/W6633567737","https://openalex.org/W6678219754","https://openalex.org/W6715329960"],"related_works":["https://openalex.org/W2805433183","https://openalex.org/W2001667162","https://openalex.org/W2575602754","https://openalex.org/W1978345117","https://openalex.org/W2351778949","https://openalex.org/W1967391339","https://openalex.org/W3009179364","https://openalex.org/W1510463930","https://openalex.org/W2381059340","https://openalex.org/W2145475630"],"abstract_inverted_index":{"This":[0,81,107],"paper":[1,82],"proposes":[2,83],"a":[3,95,129,151,162,173],"model":[4,170,181],"for":[5,49],"trail":[6,149,190,198],"detection":[7,51],"that":[8,13],"builds":[9],"upon":[10],"the":[11,19,25,30,44,59,73,77,84,87,102,122,133,137,141,148,166,169,197,203,207],"observation":[12],"trails":[14],"are":[15,72],"salient":[16],"structures":[17],"in":[18,101,115,186],"robot's":[20],"visual":[21,35,68],"field.":[22],"Due":[23],"to":[24,42,131,171,183],"complexity":[26],"of":[27,33,46,76,86,104,110,117,124,136,143,168,176,206],"natural":[28,105],"environments,":[29],"straightforward":[31],"application":[32],"bottom-up":[34],"saliency":[36,60,134],"models":[37],"is":[38,94,113,157,212],"not":[39,200],"sufficiently":[40],"robust":[41,185],"predict":[43],"location":[45],"trails.":[47,106],"As":[48],"other":[50],"tasks,":[52],"robustness":[53],"can":[54],"be":[55,184],"increased":[56],"by":[57],"modulating":[58],"computation":[61],"with":[62],"top-down":[63,111],"knowledge":[64,112],"about":[65,147],"which":[66,120],"pixel-wise":[67],"features":[69],"(e.g.,":[70],"colour)":[71],"most":[74],"representative":[75],"object":[78],"being":[79],"sought.":[80],"use":[85],"object's":[88],"overall":[89],"layout":[90],"instead,":[91],"as":[92,128,195],"it":[93,211],"more":[96],"stable":[97],"and":[98],"predictable":[99],"feature":[100],"case":[103],"novel":[108],"component":[109],"specified":[114],"terms":[116],"perception-action":[118],"rules,":[119],"control":[121],"behaviour":[123],"simple":[125],"agents":[126],"performing":[127],"swarm":[130],"compute":[132],"map":[135],"input":[138],"image.":[139],"For":[140],"purpose":[142],"multi-frame":[144],"evidence":[145],"accumulation":[146],"location,":[150],"motion":[152],"compensated":[153],"dynamic":[154],"neural":[155],"field":[156],"used.":[158],"Experimental":[159],"results":[160],"on":[161],"large":[163],"data-set":[164],"reveal":[165],"ability":[167],"produce":[172],"success":[174],"rate":[175],"91%":[177],"at":[178],"20Hz.":[179],"The":[180],"shows":[182],"situations":[187],"where":[188],"previous":[189],"detectors":[191],"would":[192],"fail,":[193],"such":[194],"when":[196,210],"does":[199],"emerge":[201],"from":[202],"lower":[204],"part":[205],"image":[208],"or":[209],"considerably":[213],"interrupted.":[214]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
