{"id":"https://openalex.org/W4385359671","doi":"https://doi.org/10.1109/iv55152.2023.10186556","title":"Dense Traversability Estimation System for Extreme Environments","display_name":"Dense Traversability Estimation System for Extreme Environments","publication_year":2023,"publication_date":"2023-06-04","ids":{"openalex":"https://openalex.org/W4385359671","doi":"https://doi.org/10.1109/iv55152.2023.10186556"},"language":"en","primary_location":{"id":"doi:10.1109/iv55152.2023.10186556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","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/A5083516619","display_name":"Yukiya Fukuda","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yukiya Fukuda","raw_affiliation_strings":["Kyusyu Inst. of Tech,Graduate School of Life Science and Systems Engineering,Kitakyusyu,Japan","Graduate School of Life Science and Systems Engineering, Kyusyu Inst. of Tech, Kitakyusyu, Japan"],"affiliations":[{"raw_affiliation_string":"Kyusyu Inst. of Tech,Graduate School of Life Science and Systems Engineering,Kitakyusyu,Japan","institution_ids":["https://openalex.org/I207014233"]},{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyusyu Inst. of Tech, Kitakyusyu, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073473945","display_name":"Yuya Mii","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuya Mii","raw_affiliation_strings":["Kyusyu Inst. of Tech,Graduate School of Life Science and Systems Engineering,Kitakyusyu,Japan","Graduate School of Life Science and Systems Engineering, Kyusyu Inst. of Tech, Kitakyusyu, Japan"],"affiliations":[{"raw_affiliation_string":"Kyusyu Inst. of Tech,Graduate School of Life Science and Systems Engineering,Kitakyusyu,Japan","institution_ids":["https://openalex.org/I207014233"]},{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyusyu Inst. of Tech, Kitakyusyu, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075800482","display_name":"Yuga Yano","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuga Yano","raw_affiliation_strings":["Kyusyu Inst. of Tech,Graduate School of Life Science and Systems Engineering,Kitakyusyu,Japan","Graduate School of Life Science and Systems Engineering, Kyusyu Inst. of Tech, Kitakyusyu, Japan"],"affiliations":[{"raw_affiliation_string":"Kyusyu Inst. of Tech,Graduate School of Life Science and Systems Engineering,Kitakyusyu,Japan","institution_ids":["https://openalex.org/I207014233"]},{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyusyu Inst. of Tech, Kitakyusyu, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024918538","display_name":"Hidenari Iwai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]},{"id":"https://openalex.org/I1293612202","display_name":"Toyota Motor Corporation (Switzerland)","ror":"https://ror.org/05p0pbv75","country_code":"CH","type":"company","lineage":["https://openalex.org/I1293612202","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["CH","JP"],"is_corresponding":false,"raw_author_name":"Hidenari Iwai","raw_affiliation_strings":["TOYOTA MOTOR CORPORATION,Advanced Safety Technology Development Div.,Susono,Japan","Advanced Safety Technology Development Div., TOYOTA MOTOR CORPORATION, Susono, Japan"],"affiliations":[{"raw_affiliation_string":"TOYOTA MOTOR CORPORATION,Advanced Safety Technology Development Div.,Susono,Japan","institution_ids":["https://openalex.org/I4210137853","https://openalex.org/I1293612202"]},{"raw_affiliation_string":"Advanced Safety Technology Development Div., TOYOTA MOTOR CORPORATION, Susono, Japan","institution_ids":["https://openalex.org/I4210137853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068792666","display_name":"Shintaro Inoue","orcid":"https://orcid.org/0009-0008-7172-9903"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shintaro Inoue","raw_affiliation_strings":["Kyusyu Inst. of Tech,Graduate School of Life Science and Systems Engineering,Kitakyusyu,Japan","Graduate School of Life Science and Systems Engineering, Kyusyu Inst. of Tech, Kitakyusyu, Japan"],"affiliations":[{"raw_affiliation_string":"Kyusyu Inst. of Tech,Graduate School of Life Science and Systems Engineering,Kitakyusyu,Japan","institution_ids":["https://openalex.org/I207014233"]},{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyusyu Inst. of Tech, Kitakyusyu, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036848200","display_name":"Hakaru Tamukoh","orcid":"https://orcid.org/0000-0002-3669-1371"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hakaru Tamukoh","raw_affiliation_strings":["Kyusyu Inst. of Tech,Graduate School of Life Science and Systems Engineering,Kitakyusyu,Japan","Graduate School of Life Science and Systems Engineering, Kyusyu Inst. of Tech, Kitakyusyu, Japan"],"affiliations":[{"raw_affiliation_string":"Kyusyu Inst. of Tech,Graduate School of Life Science and Systems Engineering,Kitakyusyu,Japan","institution_ids":["https://openalex.org/I207014233"]},{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyusyu Inst. of Tech, Kitakyusyu, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5083516619"],"corresponding_institution_ids":["https://openalex.org/I207014233"],"apc_list":null,"apc_paid":null,"fwci":1.7647,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.86473683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6574467420578003},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6389659643173218},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5710482001304626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5628812909126282},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.5254380106925964},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5170522332191467},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.48772892355918884},{"id":"https://openalex.org/keywords/digital-elevation-model","display_name":"Digital elevation model","score":0.45821067690849304},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45214492082595825},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.4307807385921478},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3881826400756836},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.33375319838523865},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.22968366742134094},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1321336030960083},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1284843385219574},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11828219890594482}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6574467420578003},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6389659643173218},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5710482001304626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5628812909126282},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.5254380106925964},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5170522332191467},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.48772892355918884},{"id":"https://openalex.org/C181843262","wikidata":"https://www.wikidata.org/wiki/Q640492","display_name":"Digital elevation model","level":2,"score":0.45821067690849304},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45214492082595825},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.4307807385921478},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3881826400756836},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.33375319838523865},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.22968366742134094},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1321336030960083},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1284843385219574},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11828219890594482},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55152.2023.10186556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W91269655","https://openalex.org/W1975964878","https://openalex.org/W2136097307","https://openalex.org/W2147674777","https://openalex.org/W2197229444","https://openalex.org/W2755158994","https://openalex.org/W2782967097","https://openalex.org/W2898693872","https://openalex.org/W3008827235","https://openalex.org/W3099726730","https://openalex.org/W3129245057","https://openalex.org/W3200754244","https://openalex.org/W4237347581","https://openalex.org/W4283803237","https://openalex.org/W4315779386","https://openalex.org/W6603706610","https://openalex.org/W6755791307","https://openalex.org/W6801678087","https://openalex.org/W6848785891"],"related_works":["https://openalex.org/W2594043982","https://openalex.org/W3036493597","https://openalex.org/W2164484807","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W3148155918","https://openalex.org/W2462682329","https://openalex.org/W4320725409","https://openalex.org/W2081468532","https://openalex.org/W4206741056"],"abstract_inverted_index":{"Traversability":[0,32],"estimation":[1,23,71],"is":[2,96,117],"essential":[3],"for":[4,25,158],"safe":[5],"path":[6],"planning":[7],"in":[8,109,119,137],"robotics":[9],"and":[10,20,42,64,91,103,123,131,154],"autonomous":[11],"driving.":[12],"In":[13,112],"this":[14],"study,":[15],"we":[16],"propose":[17],"an":[18,120],"accurate":[19],"dense":[21,75,148],"traversability":[22,95,157],"system":[24,59,116,144],"extreme":[26,138],"environments":[27],"such":[28],"as":[29],"disaster":[30],"areas.":[31],"estimations":[33],"often":[34],"occur":[35],"undefined":[36,82,152],"regions":[37,48,83,153],"due":[38],"to":[39,51,72,133],"the":[40,52,65,124],"shielding":[41],"sparsity":[43],"of":[44,54],"sensor":[45],"data.":[46],"These":[47],"may":[49],"lead":[50],"selecting":[53],"dangerous":[55],"paths.":[56],"The":[57],"proposed":[58],"uses":[60],"point":[61,85],"cloud":[62],"accumulation":[63],"Bayesian":[66],"generalized":[67],"kernel":[68],"(BGK)":[69],"elevation":[70,77],"create":[73,146],"a":[74,147],"Digital":[76],"map":[78],"(DEM)":[79],"with":[80,150],"no":[81],"from":[84,88,98],"clouds":[86],"obtained":[87],"light":[89],"detection":[90],"ranging":[92],"(LiDAR).":[93],"Subsequently,":[94],"estimated":[97],"road":[99],"surface":[100],"roughness,":[101],"slope":[102],"vehicle":[104],"performance":[105],"using":[106],"fuzzy":[107],"logic":[108],"our":[110,113,115,143],"system.":[111],"experiments,":[114],"installed":[118],"experimental":[121],"vehicle,":[122],"experiments":[125],"conducted":[126],"on":[127],"rocky":[128],"terrain,":[129],"slopes,":[130],"craters":[132],"verify":[134],"its":[135],"effectivity":[136],"environments.":[139],"Results":[140],"show":[141],"that":[142],"can":[145],"DEM":[149],"few":[151],"estimate":[155],"valid":[156],"all":[159],"obstacles.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}