{"id":"https://openalex.org/W2908721328","doi":"https://doi.org/10.1109/iros.2018.8594088","title":"Real-Time Segmentation with Appearance, Motion and Geometry","display_name":"Real-Time Segmentation with Appearance, Motion and Geometry","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908721328","doi":"https://doi.org/10.1109/iros.2018.8594088","mag":"2908721328"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594088","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5022335103","display_name":"Mennatullah Siam","orcid":"https://orcid.org/0000-0003-1854-3698"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mennatullah Siam","raw_affiliation_strings":["University of Alberta"],"affiliations":[{"raw_affiliation_string":"University of Alberta","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047409503","display_name":"Sara Eikerdawy","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sara Eikerdawy","raw_affiliation_strings":["University of Alberta"],"affiliations":[{"raw_affiliation_string":"University of Alberta","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109392373","display_name":"Mostafa Gamal","orcid":null},"institutions":[{"id":"https://openalex.org/I145487455","display_name":"Cairo University","ror":"https://ror.org/03q21mh05","country_code":"EG","type":"education","lineage":["https://openalex.org/I145487455"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Mostafa Gamal","raw_affiliation_strings":["Cairo University"],"affiliations":[{"raw_affiliation_string":"Cairo University","institution_ids":["https://openalex.org/I145487455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030228978","display_name":"Moemen Abdel-Razek","orcid":null},"institutions":[{"id":"https://openalex.org/I145487455","display_name":"Cairo University","ror":"https://ror.org/03q21mh05","country_code":"EG","type":"education","lineage":["https://openalex.org/I145487455"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Moemen Abdel-Razek","raw_affiliation_strings":["Cairo University"],"affiliations":[{"raw_affiliation_string":"Cairo University","institution_ids":["https://openalex.org/I145487455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030948380","display_name":"Martin J\u00e4gersand","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Martin Jagersand","raw_affiliation_strings":["University of Alberta"],"affiliations":[{"raw_affiliation_string":"University of Alberta","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100430266","display_name":"Hong Zhang","orcid":"https://orcid.org/0000-0002-1677-6132"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hong Zhang","raw_affiliation_strings":["University of Alberta"],"affiliations":[{"raw_affiliation_string":"University of Alberta","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5022335103"],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":0.9401,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.81409577,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5793","last_page":"5800"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","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/T10036","display_name":"Advanced Neural Network Applications","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/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8052515983581543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7513976097106934},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7146148085594177},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6916051506996155},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5214157104492188},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.48587459325790405},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4303998351097107},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09266090393066406}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8052515983581543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7513976097106934},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7146148085594177},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6916051506996155},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5214157104492188},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.48587459325790405},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4303998351097107},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09266090393066406},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594088","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8100000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1686810756","https://openalex.org/W1836465849","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W1907877624","https://openalex.org/W1910657905","https://openalex.org/W1921093919","https://openalex.org/W1992989752","https://openalex.org/W1993662509","https://openalex.org/W2002875082","https://openalex.org/W2033819227","https://openalex.org/W2076756823","https://openalex.org/W2087061417","https://openalex.org/W2088285655","https://openalex.org/W2101703235","https://openalex.org/W2108598243","https://openalex.org/W2113708607","https://openalex.org/W2115579991","https://openalex.org/W2117228865","https://openalex.org/W2126452053","https://openalex.org/W2147253850","https://openalex.org/W2340897893","https://openalex.org/W2419448466","https://openalex.org/W2517104666","https://openalex.org/W2519006193","https://openalex.org/W2560474170","https://openalex.org/W2566030665","https://openalex.org/W2570343428","https://openalex.org/W2608018946","https://openalex.org/W2612445135","https://openalex.org/W2754856369","https://openalex.org/W2774058387","https://openalex.org/W2894138533","https://openalex.org/W2963125010","https://openalex.org/W2963840672","https://openalex.org/W2963881378","https://openalex.org/W2963954267","https://openalex.org/W2963983744","https://openalex.org/W2964121744","https://openalex.org/W3105636206","https://openalex.org/W4293406525","https://openalex.org/W4295276072","https://openalex.org/W4297775537","https://openalex.org/W6638667902","https://openalex.org/W6639824700","https://openalex.org/W6726497367","https://openalex.org/W6755181020"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W2742744817","https://openalex.org/W3202472720","https://openalex.org/W2915633022"],"abstract_inverted_index":{"Real-time":[0],"Segmentation":[1],"is":[2,77,159,218,238],"of":[3,54,58,63,83,111,125,134,153,176,191],"crucial":[4],"importance":[5],"to":[6,41,120,141,150,171],"robotics":[7],"related":[8],"applications":[9],"such":[10],"as":[11],"autonomous":[12,87],"driving,":[13,88],"driving":[14],"assisted":[15],"systems,":[16],"and":[17,38,45,98,224],"traffic":[18],"monitoring":[19],"from":[20,67,118],"unmanned":[21,70],"aerial":[22,71],"vehicles":[23,72],"imagery.":[24],"We":[25],"propose":[26],"a":[27,126,145,164],"novel":[28],"two-stream":[29],"convolutional":[30],"network":[31,104,140],"for":[32,235],"motion":[33,116,215],"segmentation,":[34],"which":[35],"exploits":[36],"flow":[37,76],"geometric":[39,50,157,177],"cues":[40,51],"balance":[42],"the":[43,55,59,81,109,112,123,129,139,154,172,180,189,194,200,205,211,221],"accuracy":[44,131,155],"computational":[46,167],"efficiency":[47,168],"trade-offs.":[48],"The":[49,103,174,233],"take":[52],"advantage":[53],"domain":[56],"knowledge":[57],"application.":[60],"In":[61,148],"case":[62,82],"mostly":[64],"planar":[65],"scenes":[66,85],"high":[68],"altitude":[69],"(UAVs),":[73],"homography":[74],"compensated":[75],"used.":[78,102],"While":[79,197],"in":[80,86,115,128,132,182],"urban":[84],"with":[89,169,227],"GPS/IMU":[90],"sensory":[91],"data":[92],"available,":[93],"sparse":[94,201],"projected":[95],"depth":[96,202],"estimates":[97,203],"odometry":[99],"information":[100],"are":[101],"provides":[105],"4.7\u00d7":[106],"speedup":[107],"over":[108,193,210],"state":[110],"art":[113],"networks":[114],"segmentation":[117,130,181,206,216],"153ms":[119],"36ms,":[121],"at":[122,241],"expense":[124],"reduction":[127],"terms":[133],"pixel":[135],"boundaries.":[136],"This":[137],"enables":[138],"perform":[142],"real-time":[143],"on":[144,198,220],"Jetson":[146],"T\u00d72.":[147],"order":[149],"recuperate":[151],"some":[152],"loss,":[156],"priors":[158,178],"used":[160],"while":[161],"still":[162],"achieving":[163],"much":[165],"improved":[166,179,204],"respect":[170],"state-of-the-art.":[173],"usage":[175],"UAV":[183],"imagery":[184],"by":[185,207],"5.2":[186],"%":[187,209],"using":[188],"metric":[190],"IoU":[192],"baseline":[195],"network.":[196],"KITTI-MoSeg":[199],"12.5":[208],"baseline.":[212],"Our":[213],"proposed":[214],"solution":[217],"verified":[219],"popular":[222],"KITTI":[223],"VIVID":[225],"datasets,":[226],"additional":[228],"labels":[229],"we":[230],"have":[231],"produced.":[232],"code":[234],"our":[236],"work":[237],"publicly":[239],"available":[240],"<sup":[242],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[243],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[244],".":[245]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
