{"id":"https://openalex.org/W3008889504","doi":"https://doi.org/10.1109/iv47402.2020.9304751","title":"Learning a Directional Soft Lane Affordance Model for Road Scenes Using Self-Supervision","display_name":"Learning a Directional Soft Lane Affordance Model for Road Scenes Using Self-Supervision","publication_year":2020,"publication_date":"2020-10-19","ids":{"openalex":"https://openalex.org/W3008889504","doi":"https://doi.org/10.1109/iv47402.2020.9304751","mag":"3008889504"},"language":"en","primary_location":{"id":"doi:10.1109/iv47402.2020.9304751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2002.11477","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022811365","display_name":"Robin Karlsson","orcid":"https://orcid.org/0000-0001-6106-9616"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Robin Karlsson","raw_affiliation_strings":["Tier IV, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tier IV, Tokyo, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037754055","display_name":"Erik Sj\u00f6berg","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Erik Sjoberg","raw_affiliation_strings":["Ascent Robotics, Tokyo, Japan","Ascent Robotics,Tokyo,Japan"],"affiliations":[{"raw_affiliation_string":"Ascent Robotics, Tokyo, Japan","institution_ids":[]},{"raw_affiliation_string":"Ascent Robotics,Tokyo,Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5022811365"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0202994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1141","last_page":"1148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9973000288009644,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9955000281333923,"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/affordance","display_name":"Affordance","score":0.8981202840805054},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7528737783432007},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6188931465148926},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6113280057907104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5724167823791504},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5611683130264282},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.512395441532135},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4652335047721863},{"id":"https://openalex.org/keywords/human-behavior","display_name":"Human behavior","score":0.42756152153015137},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.41197580099105835}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.8981202840805054},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7528737783432007},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6188931465148926},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6113280057907104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5724167823791504},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5611683130264282},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.512395441532135},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4652335047721863},{"id":"https://openalex.org/C117035363","wikidata":"https://www.wikidata.org/wiki/Q3769299","display_name":"Human behavior","level":2,"score":0.42756152153015137},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41197580099105835},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iv47402.2020.9304751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2002.11477","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.11477","pdf_url":"https://arxiv.org/pdf/2002.11477","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":"mag:3008889504","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2002.11477","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2002.11477","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2002.11477","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:3126277116","is_oa":false,"landing_page_url":"https://dblp.uni-trier.de/db/conf/ivs/ivs2020.html#KarlssonS20","pdf_url":null,"source":{"id":"https://openalex.org/S4363604372","display_name":"IV","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":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IV","raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2002.11477","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.11477","pdf_url":"https://arxiv.org/pdf/2002.11477","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":[{"score":0.7900000214576721,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3008889504.pdf","grobid_xml":"https://content.openalex.org/works/W3008889504.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1579853615","https://openalex.org/W1614862348","https://openalex.org/W1737105075","https://openalex.org/W1825573441","https://openalex.org/W1901129140","https://openalex.org/W1971086298","https://openalex.org/W1975463331","https://openalex.org/W1996244034","https://openalex.org/W1999874108","https://openalex.org/W2042941801","https://openalex.org/W2059993653","https://openalex.org/W2102348129","https://openalex.org/W2119112357","https://openalex.org/W2121806728","https://openalex.org/W2154987621","https://openalex.org/W2275395544","https://openalex.org/W2316483928","https://openalex.org/W2340897893","https://openalex.org/W2406067508","https://openalex.org/W2412782625","https://openalex.org/W2476752140","https://openalex.org/W2535388113","https://openalex.org/W2557283755","https://openalex.org/W2559085405","https://openalex.org/W2746791238","https://openalex.org/W2886970679","https://openalex.org/W2889734357","https://openalex.org/W2903754102","https://openalex.org/W2911273949","https://openalex.org/W2962818798","https://openalex.org/W2963268101","https://openalex.org/W2963314968","https://openalex.org/W2963355229","https://openalex.org/W2963424321","https://openalex.org/W2963677766","https://openalex.org/W2963748958","https://openalex.org/W2963842958","https://openalex.org/W2963881378","https://openalex.org/W2970562905","https://openalex.org/W2991273344","https://openalex.org/W2991534537","https://openalex.org/W6639824700","https://openalex.org/W6738279954","https://openalex.org/W6739930931","https://openalex.org/W6740017579"],"related_works":["https://openalex.org/W3126277116","https://openalex.org/W2227407496","https://openalex.org/W2953248129","https://openalex.org/W2963759562","https://openalex.org/W2998866022","https://openalex.org/W3039934870","https://openalex.org/W3009389623","https://openalex.org/W3009584831","https://openalex.org/W3045882906","https://openalex.org/W3176146104","https://openalex.org/W2769112066","https://openalex.org/W2964127152","https://openalex.org/W2766715035","https://openalex.org/W2909819961","https://openalex.org/W3133466685","https://openalex.org/W2963816519","https://openalex.org/W2581528920","https://openalex.org/W2777032727","https://openalex.org/W2994374529","https://openalex.org/W2608819532"],"abstract_inverted_index":{"Humans":[0],"navigate":[1],"complex":[2],"environments":[3],"in":[4,67,123],"an":[5],"organized":[6],"yet":[7],"flexible":[8],"manner,":[9],"adapting":[10],"to":[11,57,65,103,106],"the":[12,59,75,96],"context":[13],"and":[14],"implicit":[15,37],"social":[16],"rules.":[17,135],"Understanding":[18],"these":[19,36],"naturally":[20],"learned":[21],"patterns":[22],"of":[23,39,74,78,95],"behavior":[24,41,122],"is":[25,85,101],"essential":[26],"for":[27,51,112,118],"applications":[28],"such":[29],"as":[30,68,70,115],"autonomous":[31],"vehicles.":[32],"However,":[33],"algorithmically":[34],"defining":[35],"rules":[38],"human":[40,89],"remains":[42],"difficult.":[43],"This":[44],"work":[45],"proposes":[46],"a":[47,53,71,93,116],"novel":[48],"self-supervised":[49],"method":[50],"training":[52],"probabilistic":[54],"network":[55],"model":[56,84,100],"estimate":[58],"regions":[60],"humans":[61],"are":[62,129],"most":[63],"likely":[64],"drive":[66],"well":[69],"multimodal":[72],"representation":[73,94],"inferred":[76],"direction":[77],"travel":[79],"at":[80],"each":[81],"point.":[82],"The":[83,99],"trained":[86],"on":[87,92],"individual":[88],"trajectories":[90],"conditioned":[91],"driving":[97,121],"environment.":[98],"shown":[102],"successfully":[104],"generalize":[105],"new":[107],"road":[108],"scenes,":[109],"demonstrating":[110],"potential":[111],"realworld":[113],"application":[114],"prior":[117],"socially":[119],"acceptable":[120],"challenging":[124],"or":[125],"ambiguous":[126],"scenarios":[127],"which":[128],"poorly":[130],"handled":[131],"by":[132],"explicit":[133],"traffic":[134]},"counts_by_year":[],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}