{"id":"https://openalex.org/W2967708755","doi":"https://doi.org/10.1109/iros40897.2019.8967642","title":"Sim-to-Real Learning for Casualty Detection from Ground Projected Point Cloud Data","display_name":"Sim-to-Real Learning for Casualty Detection from Ground Projected Point Cloud Data","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2967708755","doi":"https://doi.org/10.1109/iros40897.2019.8967642","mag":"2967708755"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967642","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967642","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1908.03057","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005774676","display_name":"Roni Permana Saputra","orcid":"https://orcid.org/0000-0001-6989-8830"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]},{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Roni Permana Saputra","raw_affiliation_strings":["Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London,UK","Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984","https://openalex.org/I4210089887"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017568280","display_name":"Nemanja Rakicevic","orcid":"https://orcid.org/0000-0003-3323-2193"},"institutions":[{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nemanja Rakicevic","raw_affiliation_strings":["Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London,UK","Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984","https://openalex.org/I4210089887"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036281885","display_name":"Petar Kormushev","orcid":"https://orcid.org/0000-0002-6677-3044"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]},{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Petar Kormushev","raw_affiliation_strings":["Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London,UK","Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London, UK"],"affiliations":[{"raw_affiliation_string":"Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984","https://openalex.org/I4210089887"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5005774676"],"corresponding_institution_ids":["https://openalex.org/I4210089887","https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.5109,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.69386916,"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":"3918","last_page":"3925"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9925000071525574,"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":0.9925000071525574,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9793999791145325,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.972000002861023,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8448889255523682},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7888292074203491},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7324128150939941},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.657551109790802},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6429582834243774},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.6378500461578369},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5615853667259216},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4859265387058258},{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.4654574692249298},{"id":"https://openalex.org/keywords/raw-data","display_name":"Raw data","score":0.45254775881767273},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4475213587284088},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43352964520454407},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3256317675113678}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8448889255523682},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7888292074203491},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7324128150939941},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.657551109790802},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6429582834243774},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.6378500461578369},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5615853667259216},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4859265387058258},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.4654574692249298},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.45254775881767273},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4475213587284088},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43352964520454407},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3256317675113678},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"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":3,"locations":[{"id":"doi:10.1109/iros40897.2019.8967642","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967642","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1908.03057","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.03057","pdf_url":"https://arxiv.org/pdf/1908.03057","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/72557","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/72557","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)","raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1908.03057","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.03057","pdf_url":"https://arxiv.org/pdf/1908.03057","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1536680647","https://openalex.org/W1926974744","https://openalex.org/W1975533357","https://openalex.org/W1987716715","https://openalex.org/W2031454541","https://openalex.org/W2060093359","https://openalex.org/W2073246097","https://openalex.org/W2097117768","https://openalex.org/W2102605133","https://openalex.org/W2112796928","https://openalex.org/W2118572719","https://openalex.org/W2138406903","https://openalex.org/W2153062878","https://openalex.org/W2203820691","https://openalex.org/W2465488276","https://openalex.org/W2576289912","https://openalex.org/W2584009249","https://openalex.org/W2605102758","https://openalex.org/W2779536048","https://openalex.org/W2793741065","https://openalex.org/W2808278386","https://openalex.org/W2808401430","https://openalex.org/W2808513732","https://openalex.org/W2884561390","https://openalex.org/W2929686596","https://openalex.org/W2962729993","https://openalex.org/W2963016543","https://openalex.org/W2963150697","https://openalex.org/W2963351448","https://openalex.org/W2963729424","https://openalex.org/W3102739980","https://openalex.org/W3121788305","https://openalex.org/W3154259666","https://openalex.org/W4238746485","https://openalex.org/W6648088351","https://openalex.org/W6734637196","https://openalex.org/W6742348326","https://openalex.org/W6752142269"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4226493464","https://openalex.org/W4312417841","https://openalex.org/W3193565141","https://openalex.org/W3133861977","https://openalex.org/W2951211570","https://openalex.org/W3103566983","https://openalex.org/W3167935049","https://openalex.org/W3029198973","https://openalex.org/W4385544042"],"abstract_inverted_index":{"This":[0,21,62,96],"paper":[1],"addresses":[2],"the":[3,14,30,79,83,102,109,114,129,138,142,153,173,181,190,203,210,213,221,225,239],"problem":[4],"of":[5,29,34,105,212,238],"human":[6,10,134],"body":[7,11,135],"detection-particularly":[8],"a":[9,25,50,56,71,74,91,133,147,235],"lying":[12,136],"on":[13,101,137,167,216,228],"ground":[15,111],"(a.k.a.":[16],"casualty)-using":[17],"point":[18,84,107,115],"cloud":[19,85,116],"data.":[20,117,170,193,218],"ability":[22],"to":[23,42,45,66,69,89,131,176,234],"detect":[24,70,132],"casualty":[26,52,72],"is":[27,64,87,98,156,206],"one":[28],"most":[31],"important":[32],"features":[33],"mobile":[35],"rescue":[36],"robots,":[37],"in":[38,151,162],"order":[39],"for":[40,128,208],"them":[41],"be":[43,67],"able":[44,68],"operate":[46],"autonomously.":[47],"We":[48],"propose":[49,146],"deep-learning-based":[51],"detection":[53],"method":[54,80],"using":[55,73,158],"deep":[57],"convolutional":[58],"neural":[59,143],"network":[60,63,154],"(CNN).":[61],"trained":[65,157,214,240],"point-cloud":[75,230],"data":[76,160,178,186,199,226,231],"input.":[77],"In":[78],"we":[81,145,183],"propose,":[82],"input":[86,127],"pre-processed":[88],"generate":[90],"depth":[92],"image-like":[93],"ground-projected":[94],"heightmap.":[95],"heightmap":[97],"generated":[99,119],"based":[100],"projected":[103],"distance":[104],"each":[106],"onto":[108],"detected":[110],"plane":[112],"within":[113],"The":[118,194],"heightmap-in":[120],"image":[121],"form-is":[122],"then":[123,165],"used":[124],"as":[125],"an":[126],"CNN":[130],"ground.":[139],"To":[140,171],"train":[141],"network,":[144],"novel":[148],"sim-to-real":[149],"approach,":[150],"which":[152],"model":[155,174,215,241],"synthetic":[159,191],"obtained":[161],"simulation":[163],"and":[164],"tested":[166],"real":[168,177,217],"sensor":[169],"make":[172],"transferable":[175],"implementations,":[179],"during":[180,202],"training":[182,192,204],"adopt":[184],"specific":[185],"augmentation":[187,200],"strategies":[188],"with":[189],"experimental":[195],"results":[196,222],"show":[197],"that":[198,224],"introduced":[201],"process":[205],"essential":[207],"improving":[209],"performance":[211],"More":[219],"specifically,":[220],"demonstrate":[223],"augmentations":[227],"raw":[229],"have":[232],"contributed":[233],"considerable":[236],"improvement":[237],"performance.":[242]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2019-08-22T00:00:00"}