{"id":"https://openalex.org/W4400646152","doi":"https://doi.org/10.1109/iv55156.2024.10588409","title":"LOGIC: LiDAR-Only Geometric-Intensity Channel-based Drivable Area Estimation in Urban Environments","display_name":"LOGIC: LiDAR-Only Geometric-Intensity Channel-based Drivable Area Estimation in Urban Environments","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400646152","doi":"https://doi.org/10.1109/iv55156.2024.10588409"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588409","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588409","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5076069435","display_name":"Juan Luis Hortelano","orcid":"https://orcid.org/0000-0002-1088-4052"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Juan Luis Hortelano","raw_affiliation_strings":["CSIC - Universidad Politécnica de Madrid,Centre for Automation and Robotics"],"affiliations":[{"raw_affiliation_string":"CSIC - Universidad Politécnica de Madrid,Centre for Automation and Robotics","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100029779","display_name":"V\u00edctor Jim\u00e9nez-Bermejo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Victor Jimenez-Bermejo","raw_affiliation_strings":["CSIC - Universidad Politécnica de Madrid,Centre for Automation and Robotics"],"affiliations":[{"raw_affiliation_string":"CSIC - Universidad Politécnica de Madrid,Centre for Automation and Robotics","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067242816","display_name":"Jorge Villagr\u00e1","orcid":"https://orcid.org/0000-0002-3963-7952"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jorge Villagra","raw_affiliation_strings":["CSIC - Universidad Politécnica de Madrid,Centre for Automation and Robotics"],"affiliations":[{"raw_affiliation_string":"CSIC - Universidad Politécnica de Madrid,Centre for Automation and Robotics","institution_ids":["https://openalex.org/I4210125392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5076069435"],"corresponding_institution_ids":["https://openalex.org/I4210125392"],"apc_list":null,"apc_paid":null,"fwci":0.8709,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.69582721,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1519","last_page":"1526"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9980999827384949,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9980999827384949,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9973000288009644,"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":0.9919000267982483,"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/lidar","display_name":"Lidar","score":0.7971282005310059},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5803104639053345},{"id":"https://openalex.org/keywords/intensity","display_name":"Intensity (physics)","score":0.5046190023422241},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.49857211112976074},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49200770258903503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43130558729171753},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3608173727989197},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3280148506164551},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.26196545362472534},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.14936748147010803},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.11544689536094666},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09315308928489685}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7971282005310059},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5803104639053345},{"id":"https://openalex.org/C93038891","wikidata":"https://www.wikidata.org/wiki/Q1061524","display_name":"Intensity (physics)","level":2,"score":0.5046190023422241},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.49857211112976074},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49200770258903503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43130558729171753},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3608173727989197},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3280148506164551},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.26196545362472534},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.14936748147010803},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.11544689536094666},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09315308928489685}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iv55156.2024.10588409","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588409","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:digital.csic.es:10261/370679","is_oa":false,"landing_page_url":"http://hdl.handle.net/10261/370679","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"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":"info:eu-repo/semantics/acceptedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1981024989","https://openalex.org/W1999050017","https://openalex.org/W2133059825","https://openalex.org/W2153977410","https://openalex.org/W2167222293","https://openalex.org/W2791426782","https://openalex.org/W3003437478","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3080961686","https://openalex.org/W3105378872","https://openalex.org/W3164142155","https://openalex.org/W3202771725","https://openalex.org/W4200457877","https://openalex.org/W4226471664","https://openalex.org/W4242177601","https://openalex.org/W4308450151","https://openalex.org/W4312812384","https://openalex.org/W4313417869","https://openalex.org/W4313484219","https://openalex.org/W4323897030","https://openalex.org/W4376851373","https://openalex.org/W4386418079","https://openalex.org/W4386737276","https://openalex.org/W4387415324","https://openalex.org/W6755791307","https://openalex.org/W6763422710","https://openalex.org/W6801880476","https://openalex.org/W6811001617"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"Autonomous":[0],"vehicles":[1],"today":[2],"are":[3,54,100],"highly":[4],"dependent":[5],"on":[6,110,168],"high-definition":[7],"maps":[8],"of":[9,22,26,77,115,122,139,156],"the":[10,20,23,35,39,78,123,136,154,174],"area":[11,37,70,80,142],"they":[12],"navigate":[13],"in.":[14],"This":[15,42,113],"creates":[16],"economic":[17],"barriers":[18],"in":[19,173],"way":[21,114],"massive":[24],"deployment":[25],"this":[27,58],"technology,":[28],"which":[29],"can":[30],"be":[31],"overcome":[32],"by":[33,81],"estimating":[34],"drivable":[36,69,79],"onboard":[38],"autonomous":[40],"vehicle.":[41],"task":[43],"has":[44],"been":[45],"exhaustively":[46],"explored":[47],"using":[48],"RGB":[49],"cameras":[50],"while":[51,126,165],"LiDAR-only":[52],"approaches":[53],"less":[55],"common.":[56],"In":[57,131],"paper,":[59],"we":[60],"propose":[61],"LOGIC:":[62],"a":[63,111,119],"LiDAR-Only":[64],"Geometric-Intensity":[65],"Channel-based":[66],"method":[67,149],"for":[68,118],"estimation.":[71],"Our":[72,148],"approach":[73],"first":[74],"obtains":[75],"proposals":[76,99],"leveraging":[82],"different":[83],"pointcloud":[84],"analysis":[85,121],"procedures,":[86],"including":[87],"geometrical":[88],"features,":[89],"intensity":[90],"evaluation":[91],"and":[92,106],"relations":[93],"between":[94],"neighbouring":[95],"points.":[96],"Then,":[97],"these":[98],"modeled":[101],"as":[102],"probabilistic":[103],"drivability":[104],"estimations":[105],"fused":[107],"over":[108,169],"time":[109],"grid.":[112],"proceeding":[116],"allows":[117],"comprehensive":[120],"LiDAR":[124,171],"data":[125],"also":[127],"producing":[128],"robust":[129],"estimations.":[130],"addition,":[132],"grid-level":[133],"fusion":[134],"enables":[135],"potential":[137],"accommodation":[138],"additional":[140],"navigable":[141],"detection":[143],"methods":[144,158],"or":[145,161],"sensor":[146],"inputs.":[147],"is":[150],"able":[151],"to":[152],"match":[153],"performance":[155],"state-of-the-art":[157],"without":[159],"training":[160],"case-by-case":[162],"parameter":[163],"tuning":[164],"being":[166],"tested":[167],"37000":[170],"frames":[172],"Waymo":[175],"Open":[176],"Dataset":[177],"[1].":[178]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}