{"id":"https://openalex.org/W4386908575","doi":"https://doi.org/10.1109/itsc57777.2023.10422297","title":"A Navigation-Based Evaluation Metric for Probabilistic Occupancy Grids: Pathfinding Cost Mean Squared Error","display_name":"A Navigation-Based Evaluation Metric for Probabilistic Occupancy Grids: Pathfinding Cost Mean Squared Error","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4386908575","doi":"https://doi.org/10.1109/itsc57777.2023.10422297"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422297","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422297","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04211125/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013203526","display_name":"Jean-Baptiste Horel","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Baptiste Horel","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA,Grenoble,France,38000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA,Grenoble,France,38000","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092912541","display_name":"Robin Baruffa","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Robin Baruffa","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA,Grenoble,France,38000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA,Grenoble,France,38000","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085449695","display_name":"Lukas Rummelhard","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Lukas Rummelhard","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA,Grenoble,France,38000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA,Grenoble,France,38000","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036073650","display_name":"Alessandro Renzaglia","orcid":"https://orcid.org/0000-0001-8218-9430"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I48430043","display_name":"Institut National des Sciences Appliqu\u00e9es de Lyon","ror":"https://ror.org/050jn9y42","country_code":"FR","type":"education","lineage":["https://openalex.org/I203339264","https://openalex.org/I48430043"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alessandro Renzaglia","raw_affiliation_strings":["Univ Lyon, Inria, INSA Lyon,CITI,Villeurbanne,France,F-69621"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ Lyon, Inria, INSA Lyon,CITI,Villeurbanne,France,F-69621","institution_ids":["https://openalex.org/I48430043","https://openalex.org/I100532134"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109557660","display_name":"Christian Laugier","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Laugier","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA,Grenoble,France,38000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA,Grenoble,France,38000","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":null,"first_page":"3148","last_page":"3153"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T11106","display_name":"Data Management and Algorithms","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T11980","display_name":"Human Mobility and Location-Based Analysis","score":0.9420999884605408,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10698","display_name":"Transportation Planning and Optimization","score":0.9301000237464905,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pathfinding","display_name":"Pathfinding","score":0.7643705010414124},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.7116336822509766},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6296275854110718},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.6267345547676086},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.6044119000434875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.588874340057373},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.3083728551864624},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29845666885375977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23909679055213928},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.17884397506713867},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10342800617218018},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.09415847063064575}],"concepts":[{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.7643705010414124},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.7116336822509766},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6296275854110718},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.6267345547676086},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.6044119000434875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.588874340057373},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.3083728551864624},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29845666885375977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23909679055213928},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.17884397506713867},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10342800617218018},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.09415847063064575},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422297","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422297","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04211125v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04211125","pdf_url":"https://hal.science/hal-04211125/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"ITSC 2023 - 26th IEEE International Conference on Intelligent Transportation Systems, IEEE, Sep 2023, Bilbao, Spain, Spain. pp.1-6","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04211125v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04211125","pdf_url":"https://hal.science/hal-04211125/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"ITSC 2023 - 26th IEEE International Conference on Intelligent Transportation Systems, IEEE, Sep 2023, Bilbao, Spain, Spain. pp.1-6","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4386908575.pdf"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W72317908","https://openalex.org/W1216267331","https://openalex.org/W1780634777","https://openalex.org/W1999050017","https://openalex.org/W2105632441","https://openalex.org/W2113227594","https://openalex.org/W2114582993","https://openalex.org/W2125061324","https://openalex.org/W2150734399","https://openalex.org/W2169528473","https://openalex.org/W2244938811","https://openalex.org/W3013056381","https://openalex.org/W3022710784","https://openalex.org/W3035574168","https://openalex.org/W4220840932","https://openalex.org/W4322715689","https://openalex.org/W4362009298"],"related_works":["https://openalex.org/W4285687848","https://openalex.org/W4289994039","https://openalex.org/W4282043467","https://openalex.org/W2240526870","https://openalex.org/W3100156731","https://openalex.org/W2105697914","https://openalex.org/W2623016776","https://openalex.org/W1967962134","https://openalex.org/W3101047024","https://openalex.org/W3128311703"],"abstract_inverted_index":{"While":[0,36],"robotics":[1],"increasingly":[2],"relies":[3],"on":[4,123],"occupancy":[5,34,53,76],"grids":[6,54,99],"for":[7,32],"environment":[8],"perception,":[9],"the":[10,46,56,66,92,95,101,105,128,131],"lack":[11],"of":[12,51,58,130],"specifically-designed":[13],"metrics":[14,24],"leads":[15],"existing":[16,139],"research":[17],"to":[18,81,138],"employ":[19],"Image":[20],"Quality":[21],"Assessment":[22],"(IQA)":[23],"and":[25,49,86],"topological":[26],"evaluations,":[27],"which":[28,111],"were":[29],"primarily":[30],"designed":[31,80],"binary":[33],"grids.":[35],"appropriate":[37],"as":[38,100],"a":[39,73],"first":[40],"approximation,":[41],"not":[42],"taking":[43],"into":[44],"account":[45],"particular":[47],"nature":[48],"usage":[50,85],"probabilistic":[52,75],"limits":[55],"accuracy":[57],"their":[59,83,108],"evaluation.":[60],"In":[61],"this":[62],"paper,":[63],"we":[64],"propose":[65],"PathFinding":[67],"Cost":[68],"Mean":[69],"Squared":[70],"Error":[71],"(PFC-MSE),":[72],"new":[74],"grid":[77,135],"comparison":[78],"metric":[79,93],"incorporate":[82],"main":[84],"attributes.":[87],"Emulating":[88],"grid-based":[89],"navigation":[90,106],"methods,":[91],"defines":[94],"difference":[96],"between":[97,104],"two":[98],"measured":[102],"spread":[103],"behavior":[107],"use":[109],"induces,":[110],"emphasizes":[112],"variations":[113],"in":[114,133],"general":[115],"topology":[116],"over":[117],"local":[118],"cell-value":[119],"fluctuations.":[120],"Experimental":[121],"results":[122],"10,000":[124],"driving":[125],"scenes":[126],"exhibit":[127],"relevance":[129],"approach":[132],"quantifying":[134],"disparities":[136],"compared":[137],"approaches.":[140]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}