{"id":"https://openalex.org/W4400645343","doi":"https://doi.org/10.1109/iv55156.2024.10588787","title":"UFO: Uncertainty-aware LiDAR-image Fusion for Off-road Semantic Terrain Map Estimation","display_name":"UFO: Uncertainty-aware LiDAR-image Fusion for Off-road Semantic Terrain Map Estimation","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400645343","doi":"https://doi.org/10.1109/iv55156.2024.10588787"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588787","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/A5104254056","display_name":"Ohn Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Ohn Kim","raw_affiliation_strings":["Agency for Defense Development,Daejeon,Republic of Korea,34186"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development,Daejeon,Republic of Korea,34186","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057384597","display_name":"Junwon Seo","orcid":"https://orcid.org/0000-0001-6046-9319"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junwon Seo","raw_affiliation_strings":["Agency for Defense Development,Daejeon,Republic of Korea,34186"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development,Daejeon,Republic of Korea,34186","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016397715","display_name":"Seongyong Ahn","orcid":"https://orcid.org/0000-0001-8210-6324"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seongyong Ahn","raw_affiliation_strings":["Agency for Defense Development,Daejeon,Republic of Korea,34186"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development,Daejeon,Republic of Korea,34186","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111929387","display_name":"Chong Hui Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chong Hui Kim","raw_affiliation_strings":["Agency for Defense Development,Daejeon,Republic of Korea,34186"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development,Daejeon,Republic of Korea,34186","institution_ids":["https://openalex.org/I2801036362"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5104254056"],"corresponding_institution_ids":["https://openalex.org/I2801036362"],"apc_list":null,"apc_paid":null,"fwci":1.524,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80353978,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"192","last_page":"199"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9890000224113464,"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":0.9890000224113464,"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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9866999983787537,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.700377345085144},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6965168118476868},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.648838222026825},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5565648078918457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5190794467926025},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.4973903000354767},{"id":"https://openalex.org/keywords/image-fusion","display_name":"Image fusion","score":0.4841461777687073},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.48205098509788513},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4729295074939728},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4548937678337097},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.44572651386260986},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.27010518312454224},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.22010010480880737},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08884480595588684}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.700377345085144},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6965168118476868},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.648838222026825},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5565648078918457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5190794467926025},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4973903000354767},{"id":"https://openalex.org/C69744172","wikidata":"https://www.wikidata.org/wiki/Q860822","display_name":"Image fusion","level":3,"score":0.4841461777687073},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.48205098509788513},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4729295074939728},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4548937678337097},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.44572651386260986},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.27010518312454224},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.22010010480880737},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08884480595588684},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588787","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.6600000262260437,"display_name":"Climate action"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323103","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W2411093439","https://openalex.org/W2560609797","https://openalex.org/W2765757095","https://openalex.org/W2932012013","https://openalex.org/W2945883617","https://openalex.org/W2973181288","https://openalex.org/W2999344697","https://openalex.org/W3003922739","https://openalex.org/W3034669477","https://openalex.org/W3035461736","https://openalex.org/W3103520796","https://openalex.org/W3109395584","https://openalex.org/W3117804044","https://openalex.org/W3129245057","https://openalex.org/W3130463448","https://openalex.org/W3170030651","https://openalex.org/W3173732446","https://openalex.org/W3174288891","https://openalex.org/W3183229916","https://openalex.org/W3201726317","https://openalex.org/W3203158837","https://openalex.org/W3206164009","https://openalex.org/W3210282530","https://openalex.org/W4206010013","https://openalex.org/W4214763741","https://openalex.org/W4225986494","https://openalex.org/W4285201777","https://openalex.org/W4285304415","https://openalex.org/W4287888303","https://openalex.org/W4312414163","https://openalex.org/W4312707458","https://openalex.org/W4312749288","https://openalex.org/W4312894406","https://openalex.org/W4312959444","https://openalex.org/W4313639585","https://openalex.org/W4379803630","https://openalex.org/W4383066393","https://openalex.org/W4383097420","https://openalex.org/W4383108631","https://openalex.org/W4385327844","https://openalex.org/W4385416313","https://openalex.org/W4386075718","https://openalex.org/W4389666587","https://openalex.org/W4389666737","https://openalex.org/W4401416409","https://openalex.org/W6785250189","https://openalex.org/W6786772111","https://openalex.org/W6855786224","https://openalex.org/W6856305146"],"related_works":["https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W2788731446","https://openalex.org/W2204403038","https://openalex.org/W3214791684","https://openalex.org/W3152170969","https://openalex.org/W2379054866","https://openalex.org/W2549658594","https://openalex.org/W2095903272","https://openalex.org/W2353265673"],"abstract_inverted_index":{"Autonomous":[0],"off-road":[1,42,106,118,130,144],"navigation":[2,141],"requires":[3],"an":[4,86],"accurate":[5],"semantic":[6,32,82],"understanding":[7],"of":[8,81],"the":[9,79,99],"environment,":[10],"often":[11],"converted":[12],"into":[13],"a":[14,57,90],"bird\u2019s-eye":[15],"view":[16],"(BEV)":[17],"representation":[18],"for":[19,61],"various":[20],"downstream":[21],"tasks.":[22],"While":[23],"learning-based":[24,58],"methods":[25],"have":[26],"shown":[27],"success":[28],"in":[29,41,48,67,105,129,135,142],"generating":[30,62],"local":[31],"terrain":[33,52,64],"maps":[34,66,83],"directly":[35],"from":[36,85],"sensor":[37],"data,":[38],"their":[39],"efficacy":[40,134],"environments":[43,107],"is":[44],"hindered":[45],"by":[46],"challenges":[47],"accurately":[49],"representing":[50],"uncertain":[51],"features.":[53],"This":[54],"paper":[55],"presents":[56],"fusion":[59,72],"method":[60,125],"dense":[63],"classification":[65],"BEV.":[68],"By":[69,113],"performing":[70],"LiDAR-image":[71],"at":[73],"multiple":[74],"scales,":[75],"our":[76,124],"approach":[77],"enhances":[78,98],"accuracy":[80,128],"generated":[84],"RGB":[87],"image":[88],"and":[89,138],"single-sweep":[91],"LiDAR":[92],"scan.":[93],"Utilizing":[94],"uncertainty-aware":[95],"pseudo-labels":[96],"further":[97],"network\u2019s":[100],"ability":[101],"to":[102],"learn":[103],"reliably":[104],"without":[108],"requiring":[109],"precise":[110],"3D":[111],"annotations.":[112],"conducting":[114],"thorough":[115],"experiments":[116],"using":[117],"driving":[119],"datasets,":[120],"we":[121],"demonstrate":[122],"that":[123],"can":[126],"improve":[127],"terrains,":[131],"validating":[132],"its":[133],"facilitating":[136],"reliable":[137],"safe":[139],"autonomous":[140],"challenging":[143],"settings.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":7}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
