{"id":"https://openalex.org/W3194788396","doi":"https://doi.org/10.1109/iros51168.2021.9636518","title":"Real-Time Monocular Human Depth Estimation and Segmentation on Embedded Systems","display_name":"Real-Time Monocular Human Depth Estimation and Segmentation on Embedded Systems","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3194788396","doi":"https://doi.org/10.1109/iros51168.2021.9636518","mag":"3194788396"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636518","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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/A5021902921","display_name":"Shan An","orcid":"https://orcid.org/0000-0001-7796-6952"},"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":true,"raw_author_name":"Shan An","raw_affiliation_strings":["School of Computer Science and Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044037913","display_name":"Fangru Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210103986","display_name":"Jingdong (China)","ror":"https://ror.org/01dkjkq64","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210103986"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangru Zhou","raw_affiliation_strings":["Tech & Data Center, JD.COM Inc, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tech & Data Center, JD.COM Inc, Beijing, China","institution_ids":["https://openalex.org/I4210103986"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102888996","display_name":"Mei Yang","orcid":"https://orcid.org/0000-0003-2114-5674"},"institutions":[{"id":"https://openalex.org/I4210103986","display_name":"Jingdong (China)","ror":"https://ror.org/01dkjkq64","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210103986"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mei Yang","raw_affiliation_strings":["Tech & Data Center, JD.COM Inc, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tech & Data Center, JD.COM Inc, Beijing, China","institution_ids":["https://openalex.org/I4210103986"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053694130","display_name":"Haogang Zhu","orcid":"https://orcid.org/0000-0003-1771-2752"},"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":"Haogang Zhu","raw_affiliation_strings":["School of Computer Science and Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105268108","display_name":"Changhong Fu","orcid":"https://orcid.org/0000-0002-9897-6022"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changhong Fu","raw_affiliation_strings":["School of Mechanical Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042816249","display_name":"Konstantinos A. Tsintotas","orcid":"https://orcid.org/0000-0002-1808-2601"},"institutions":[{"id":"https://openalex.org/I147962203","display_name":"Democritus University of Thrace","ror":"https://ror.org/03bfqnx40","country_code":"GR","type":"education","lineage":["https://openalex.org/I147962203"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Konstantinos A. Tsintotas","raw_affiliation_strings":["Democritus University of Thrace, Xanthi, Greece"],"affiliations":[{"raw_affiliation_string":"Democritus University of Thrace, Xanthi, Greece","institution_ids":["https://openalex.org/I147962203"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5021902921"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":1.2415,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.87226382,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"55","last_page":"62"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9968000054359436,"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":0.9968000054359436,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10531","display_name":"Advanced Vision and Imaging","score":0.9950000047683716,"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/monocular","display_name":"Monocular","score":0.8035354018211365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6900789737701416},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6560291051864624},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6308912038803101},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6158324480056763},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5429257750511169},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4304545521736145},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08670210838317871}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.8035354018211365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6900789737701416},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6560291051864624},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6308912038803101},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6158324480056763},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5429257750511169},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4304545521736145},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08670210838317871},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636518","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":71,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W1686810756","https://openalex.org/W1861492603","https://openalex.org/W1893035343","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W1923697677","https://openalex.org/W2115579991","https://openalex.org/W2194775991","https://openalex.org/W2412782625","https://openalex.org/W2461937780","https://openalex.org/W2476548250","https://openalex.org/W2535547924","https://openalex.org/W2593584281","https://openalex.org/W2612445135","https://openalex.org/W2630837129","https://openalex.org/W2758393195","https://openalex.org/W2770343596","https://openalex.org/W2804032941","https://openalex.org/W2890860133","https://openalex.org/W2892124085","https://openalex.org/W2912836860","https://openalex.org/W2962772649","https://openalex.org/W2962861284","https://openalex.org/W2963150697","https://openalex.org/W2963163009","https://openalex.org/W2963359474","https://openalex.org/W2963418739","https://openalex.org/W2963840672","https://openalex.org/W2963881378","https://openalex.org/W2963890956","https://openalex.org/W2963911235","https://openalex.org/W2964052474","https://openalex.org/W2964309882","https://openalex.org/W2967115342","https://openalex.org/W2968136324","https://openalex.org/W2970971581","https://openalex.org/W2971198903","https://openalex.org/W2996106355","https://openalex.org/W2996477138","https://openalex.org/W3003634664","https://openalex.org/W3003663698","https://openalex.org/W3003839924","https://openalex.org/W3004144522","https://openalex.org/W3015397549","https://openalex.org/W3034375692","https://openalex.org/W3039961328","https://openalex.org/W3089347855","https://openalex.org/W3100901464","https://openalex.org/W3101244574","https://openalex.org/W3102327032","https://openalex.org/W3103567320","https://openalex.org/W3105367394","https://openalex.org/W3124420883","https://openalex.org/W3126184860","https://openalex.org/W4295312788","https://openalex.org/W4297775537","https://openalex.org/W6605121731","https://openalex.org/W6637373629","https://openalex.org/W6639102338","https://openalex.org/W6639824700","https://openalex.org/W6640295612","https://openalex.org/W6696085341","https://openalex.org/W6737664043","https://openalex.org/W6739696289","https://openalex.org/W6748481559","https://openalex.org/W6751349269","https://openalex.org/W6759084196","https://openalex.org/W6766978945","https://openalex.org/W6776074630","https://openalex.org/W6780089818"],"related_works":["https://openalex.org/W200819717","https://openalex.org/W2032269556","https://openalex.org/W1991834176","https://openalex.org/W2944448661","https://openalex.org/W2064421702","https://openalex.org/W4253756925","https://openalex.org/W2805523177","https://openalex.org/W2131956013","https://openalex.org/W2036566443","https://openalex.org/W1522196789"],"abstract_inverted_index":{"Estimating":[0],"a":[1,12,24,56],"scene\u2019s":[2],"depth":[3,35,77],"to":[4,43,90,106],"achieve":[5],"collision":[6],"avoidance":[7],"against":[8],"moving":[9],"pedestrians":[10],"is":[11,88],"crucial":[13],"and":[14,32,37,52,79],"fundamental":[15],"problem":[16],"in":[17,39,108],"the":[18,60,65,68],"robotic":[19],"field.":[20],"This":[21],"paper":[22],"proposes":[23],"novel,":[25],"low":[26],"complexity":[27],"network":[28,85],"architecture":[29],"for":[30,45,76,81],"fast":[31],"accurate":[33],"human":[34],"estimation":[36],"segmentation":[38],"indoor":[40],"environments,":[41],"aiming":[42],"applications":[44],"resource-constrained":[46],"platforms":[47],"(including":[48],"battery-powered":[49],"aerial,":[50],"micro-aerial,":[51],"ground":[53],"vehicles)":[54],"with":[55,128],"monocular":[57],"camera":[58],"being":[59],"primary":[61],"perception":[62],"module.":[63],"Following":[64],"encoder-decoder":[66],"structure,":[67],"proposed":[69],"framework":[70],"consists":[71],"of":[72],"two":[73],"branches,":[74],"one":[75],"prediction":[78],"another":[80],"semantic":[82],"segmentation.":[83],"Moreover,":[84],"structure":[86],"optimization":[87],"employed":[89],"improve":[91],"its":[92],"forward":[93],"inference":[94],"speed.":[95],"Exhaustive":[96],"experiments":[97],"on":[98,122],"three":[99],"self-generated":[100],"datasets":[101],"prove":[102],"our":[103],"pipeline\u2019s":[104],"capability":[105],"execute":[107],"real-time,":[109],"achieving":[110],"higher":[111],"frame":[112],"rates":[113],"than":[114],"contemporary":[115],"state-of-the-art":[116],"frameworks":[117],"(114.6":[118],"frames":[119],"per":[120],"second":[121],"an":[123],"NVIDIA":[124],"Jetson":[125],"Nano":[126],"GPU":[127],"TensorRT)":[129],"while":[130],"maintaining":[131],"comparable":[132],"accuracy.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}