{"id":"https://openalex.org/W4312302744","doi":"https://doi.org/10.1109/iros47612.2022.9981368","title":"Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain","display_name":"Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312302744","doi":"https://doi.org/10.1109/iros47612.2022.9981368"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981368","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://resolver.sub.uni-goettingen.de/purl?gro-2/135586","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087286464","display_name":"Robin Schmid","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Robin Schmid","raw_affiliation_strings":["California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America","institution_ids":["https://openalex.org/I1334627681","https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031847628","display_name":"Deegan Atha","orcid":"https://orcid.org/0000-0002-4675-7899"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]},{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Deegan Atha","raw_affiliation_strings":["California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America","institution_ids":["https://openalex.org/I1334627681","https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032547088","display_name":"Frederik Sch\u00f6ller","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["DK","US"],"is_corresponding":false,"raw_author_name":"Frederik Sch\u00f6ller","raw_affiliation_strings":["California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","Department of Electrical Engineering and Photonics, Technical University of Denmark, Denmark","Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Department of Electrical Engineering and Photonics, Technical University of Denmark, Denmark","institution_ids":["https://openalex.org/I96673099"]},{"raw_affiliation_string":"Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America","institution_ids":["https://openalex.org/I1334627681","https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033221021","display_name":"Sharmita Dey","orcid":null},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]},{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Sharmita Dey","raw_affiliation_strings":["California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America","Department of Computer Science, University of Goettingen, Germany"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America","institution_ids":["https://openalex.org/I1334627681","https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Computer Science, University of Goettingen, Germany","institution_ids":["https://openalex.org/I74656192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102758442","display_name":"Seyed Fakoorian","orcid":"https://orcid.org/0000-0001-8572-5382"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seyed Fakoorian","raw_affiliation_strings":["California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America","institution_ids":["https://openalex.org/I1334627681","https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057288593","display_name":"Kyohei Otsu","orcid":"https://orcid.org/0000-0002-9363-8817"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyohei Otsu","raw_affiliation_strings":["California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America","institution_ids":["https://openalex.org/I1334627681","https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032201984","display_name":"Barry Ridge","orcid":"https://orcid.org/0000-0002-7240-8182"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]},{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Barry Ridge","raw_affiliation_strings":["California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America","institution_ids":["https://openalex.org/I1334627681","https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020694820","display_name":"Marko Bjelonic","orcid":"https://orcid.org/0000-0002-9123-3920"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marko Bjelonic","raw_affiliation_strings":["Swiss Federal Institute of Technology (ETH Zürich), Robotic Systems Lab,Switzerland"],"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology (ETH Zürich), Robotic Systems Lab,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015540714","display_name":"Lorenz Wellhausen","orcid":"https://orcid.org/0000-0001-5148-754X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lorenz Wellhausen","raw_affiliation_strings":["Swiss Federal Institute of Technology (ETH Zürich), Robotic Systems Lab,Switzerland"],"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology (ETH Zürich), Robotic Systems Lab,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Swiss Federal Institute of Technology (ETH Zürich), Robotic Systems Lab,Switzerland"],"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology (ETH Zürich), Robotic Systems Lab,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042186658","display_name":"Ali\u2010akbar Agha\u2010mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-akbar Agha-mohammadi","raw_affiliation_strings":["California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology (Caltech),Jet Propulsion Laboratory (JPL),Pasadena,CA,United States of America","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech), Pasadena, CA, United States of America","institution_ids":["https://openalex.org/I1334627681","https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5087286464"],"corresponding_institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":2.2733,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.92022711,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"12419","last_page":"12425"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.996399998664856,"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":0.996399998664856,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9952999949455261,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9933000206947327,"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/terrain","display_name":"Terrain","score":0.7944689989089966},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7591811418533325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7583178877830505},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.6206395626068115},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5988885164260864},{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.521676778793335},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.5160233974456787},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.507944643497467},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48397278785705566},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.48105955123901367},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4474470913410187},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.4363996684551239},{"id":"https://openalex.org/keywords/supervised-learning","display_name":"Supervised learning","score":0.4304617941379547},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33674800395965576},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.21750405430793762}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7944689989089966},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7591811418533325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7583178877830505},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.6206395626068115},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5988885164260864},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.521676778793335},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.5160233974456787},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.507944643497467},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48397278785705566},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.48105955123901367},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4474470913410187},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.4363996684551239},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.4304617941379547},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33674800395965576},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.21750405430793762},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"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/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981368","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.goettingen-research-online.de:2/135586","is_oa":true,"landing_page_url":"https://resolver.sub.uni-goettingen.de/purl?gro-2/135586","pdf_url":null,"source":{"id":"https://openalex.org/S4306401634","display_name":"GoeScholar  The Publication Server of the Georg-August-Universit\u00e4t G\u00f6ttingen (Georg-August-Universit\u00e4t G\u00f6ttingen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210122495","host_organization_name":"Asklepios Klinik St. Georg","host_organization_lineage":["https://openalex.org/I4210122495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:publications.goettingen-research-online.de:2/135586","is_oa":true,"landing_page_url":"https://resolver.sub.uni-goettingen.de/purl?gro-2/135586","pdf_url":null,"source":{"id":"https://openalex.org/S4306401634","display_name":"GoeScholar  The Publication Server of the Georg-August-Universit\u00e4t G\u00f6ttingen (Georg-August-Universit\u00e4t G\u00f6ttingen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210122495","host_organization_name":"Asklepios Klinik St. Georg","host_organization_lineage":["https://openalex.org/I4210122495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G3648211085","display_name":null,"funder_award_id":"80NM0018D0004","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1974868116","https://openalex.org/W2106789842","https://openalex.org/W2156067790","https://openalex.org/W2319961868","https://openalex.org/W2471969791","https://openalex.org/W2600777408","https://openalex.org/W2765757095","https://openalex.org/W2809054577","https://openalex.org/W2913921102","https://openalex.org/W2945963226","https://openalex.org/W2956887593","https://openalex.org/W2963424321","https://openalex.org/W2963748958","https://openalex.org/W3000119951","https://openalex.org/W3000916453","https://openalex.org/W3003922739","https://openalex.org/W3035861563","https://openalex.org/W3080163488","https://openalex.org/W3096411729","https://openalex.org/W3099155473","https://openalex.org/W3129245057","https://openalex.org/W3195166614","https://openalex.org/W3204782551","https://openalex.org/W3206164009","https://openalex.org/W6687483927","https://openalex.org/W6715287400","https://openalex.org/W6769171131"],"related_works":["https://openalex.org/W2595172197","https://openalex.org/W3013693939","https://openalex.org/W2566616303","https://openalex.org/W2159052453","https://openalex.org/W3131327266","https://openalex.org/W2734887215","https://openalex.org/W2084856301","https://openalex.org/W4310825149","https://openalex.org/W4386076228","https://openalex.org/W2798269247"],"abstract_inverted_index":{"Navigating":[0],"off-road":[1,148],"with":[2,131,138,145,151,179],"a":[3,9,23,36,41,64,78,84,146],"fast":[4],"autonomous":[5],"vehicle":[6,75,89,114],"depends":[7,21],"on":[8,22,29,112,123],"robust":[10],"perception":[11],"system":[12],"that":[13,86],"differentiates":[14],"traversable":[15],"from":[16,32,72,159],"non-traversable":[17],"terrain.":[18],"Typically,":[19],"this":[20],"semantic":[24,157],"understanding":[25],"which":[26],"is":[27],"based":[28,122],"supervised":[30],"learning":[31],"images":[33],"annotated":[34],"by":[35],"human":[37,45],"expert.":[38],"This":[39],"requires":[40],"significant":[42],"investment":[43],"in":[44,77,98],"time,":[46],"assumes":[47],"correct":[48],"expert":[49],"classification,":[50],"and":[51,69,119,134,142,174,181],"small":[52],"details":[53],"can":[54],"lead":[55],"to":[56,168],"misclassification.":[57],"To":[58],"address":[59],"these":[60],"challenges,":[61],"we":[62,82],"propose":[63],"method":[65],"for":[66],"predicting":[67],"high-":[68],"low-risk":[70,173],"terrains":[71,121],"only":[73],"past":[74],"experience":[76],"self-supervised":[79],"fashion.":[80],"First,":[81],"develop":[83],"tool":[85],"projects":[87],"the":[88,92,99,103,124,166,170,175],"trajectory":[90,115],"into":[91],"front":[93],"camera":[94],"image.":[95],"Second,":[96],"occlusions":[97],"3D":[100],"representation":[101],"of":[102,156],"terrain":[104,161],"are":[105],"filtered":[106],"out.":[107],"Third,":[108],"an":[109],"autoencoder":[110],"trained":[111],"masked":[113],"regions":[116],"identifies":[117],"low-":[118],"high-risk":[120,178],"reconstruction":[125],"error.":[126],"We":[127],"evaluated":[128],"our":[129],"approach":[130],"two":[132,139,152],"models":[133],"different":[135,140],"bottleneck":[136],"sizes":[137],"training":[141,163],"testing":[143],"sites":[144,164],"four-wheeled":[147],"vehicle.":[149],"Comparison":[150],"independent":[153],"test":[154],"sets":[155],"labels":[158],"similar":[160],"as":[162,172,177],"demonstrates":[165],"ability":[167],"separate":[169],"ground":[171],"vegetation":[176],"81.1%":[180],"85.1%":[182],"accuracy.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}