{"id":"https://openalex.org/W2739642007","doi":"https://doi.org/10.1109/ivs.2017.7995807","title":"XDvision: Dense outdoor perception for autonomous vehicles","display_name":"XDvision: Dense outdoor perception for autonomous vehicles","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2739642007","doi":"https://doi.org/10.1109/ivs.2017.7995807","mag":"2739642007"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2017.7995807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5006981368","display_name":"V\u00edctor Romero-Cano","orcid":"https://orcid.org/0000-0003-2910-5116"},"institutions":[{"id":"https://openalex.org/I47726972","display_name":"Universidad Aut\u00f3noma de Occidente","ror":"https://ror.org/02drkkh02","country_code":"CO","type":"education","lineage":["https://openalex.org/I47726972"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"Victor Romero-Cano","raw_affiliation_strings":["Universidad Aut\u00f3noma de Occidente, Cali, Colombia","Robots coop\u00e9ratifs et adapt\u00e9s \u00e0 la pr\u00e9sence humaine en environnements dynamiques"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Aut\u00f3noma de Occidente, Cali, Colombia","institution_ids":["https://openalex.org/I47726972"]},{"raw_affiliation_string":"Robots coop\u00e9ratifs et adapt\u00e9s \u00e0 la pr\u00e9sence humaine en environnements dynamiques","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010424106","display_name":"Nicolas Vignard","orcid":null},"institutions":[{"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"]},{"id":"https://openalex.org/I4210120547","display_name":"Toyota Motor Corporation (Belgium)","ror":"https://ror.org/023g86t37","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210120547","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["BE","CH"],"is_corresponding":false,"raw_author_name":"Nicolas Vignard","raw_affiliation_strings":["Toyota Motor Europe (TME), Brussels, Belgium","Toyota Motor Europe"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Motor Europe (TME), Brussels, Belgium","institution_ids":["https://openalex.org/I4210120547"]},{"raw_affiliation_string":"Toyota Motor Europe","institution_ids":["https://openalex.org/I1293612202"]}]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Laugier","raw_affiliation_strings":["INRIA Rhone Alpes, Grenoble, France","Robots coop\u00e9ratifs et adapt\u00e9s \u00e0 la pr\u00e9sence humaine en environnements dynamiques"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Rhone Alpes, Grenoble, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"Robots coop\u00e9ratifs et adapt\u00e9s \u00e0 la pr\u00e9sence humaine en environnements dynamiques","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.928,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78055823,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"39","issue":null,"first_page":"752","last_page":"757"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9983999729156494,"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/computer-science","display_name":"Computer science","score":0.7293405532836914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.688241720199585},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6385465264320374},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6177657842636108},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5682618618011475},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.4868856966495514},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.4755660891532898},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4434255361557007},{"id":"https://openalex.org/keywords/image-sensor","display_name":"Image sensor","score":0.4351864457130432},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.41587963700294495},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12337684631347656}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7293405532836914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.688241720199585},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6385465264320374},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6177657842636108},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5682618618011475},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.4868856966495514},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.4755660891532898},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4434255361557007},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.4351864457130432},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.41587963700294495},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12337684631347656},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ivs.2017.7995807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:166828","is_oa":false,"landing_page_url":"https://orca.cardiff.ac.uk/id/eprint/166828/1/iv17.pdf","pdf_url":"https://orca.cardiff.ac.uk/id/eprint/166828/1/iv17.pdf","source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:HAL:hal-01672089v1","is_oa":false,"landing_page_url":"https://inria.hal.science/hal-01672089","pdf_url":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Intelligent Vehicle conference 2017 (IV 2017), Jun 2017, Redondo Beach, Los Angeles, United States. &#x27E8;10.1109/IVS.2017.7995807&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W35586085","https://openalex.org/W805682279","https://openalex.org/W853930822","https://openalex.org/W1575087183","https://openalex.org/W1577575150","https://openalex.org/W1581951631","https://openalex.org/W1602724287","https://openalex.org/W1748582431","https://openalex.org/W1839843765","https://openalex.org/W1997763771","https://openalex.org/W2021930164","https://openalex.org/W2029496725","https://openalex.org/W2031031248","https://openalex.org/W2038420319","https://openalex.org/W2049633694","https://openalex.org/W2050361404","https://openalex.org/W2059602973","https://openalex.org/W2090183260","https://openalex.org/W2110226160","https://openalex.org/W2115579991","https://openalex.org/W2118246710","https://openalex.org/W2125220577","https://openalex.org/W2133297572","https://openalex.org/W2163496225","https://openalex.org/W2169487039","https://openalex.org/W2216212251","https://openalex.org/W2416791088","https://openalex.org/W2419502228","https://openalex.org/W2963956866","https://openalex.org/W3144916399","https://openalex.org/W7048738093"],"related_works":["https://openalex.org/W2185469136","https://openalex.org/W2011264131","https://openalex.org/W4306353150","https://openalex.org/W2026860389","https://openalex.org/W8219677","https://openalex.org/W3216879894","https://openalex.org/W2890132085","https://openalex.org/W2168054807","https://openalex.org/W2058990474","https://openalex.org/W3207883763"],"abstract_inverted_index":{"Robust":[0],"perception":[1,53],"is":[2],"the":[3,18,56,67,106,113,127],"cornerstone":[4],"of":[5,27,75,108,115,129],"safe":[6],"and":[7,58,66],"environmentally-aware":[8],"autonomous":[9],"navigation":[10],"systems.":[11],"Autonomous":[12],"robots":[13],"are":[14,91],"expected":[15],"to":[16,50],"recognise":[17],"objects":[19],"in":[20],"their":[21,78],"surroundings":[22],"under":[23],"a":[24,83,116,130],"wide":[25],"range":[26,68],"challenging":[28],"environmental":[29],"conditions.":[30],"This":[31,45],"problem":[32],"has":[33],"been":[34],"tackled":[35],"by":[36,63,71,111],"combining":[37],"multiple":[38],"sensor":[39],"modalities":[40],"that":[41,54],"have":[42],"complementary":[43],"characteristics.":[44],"paper":[46],"proposes":[47],"an":[48],"approach":[49],"multi-sensor-based":[51],"robotic":[52],"leverages":[55],"rich":[57],"dense":[59,77,94],"appearance":[60],"information":[61,96],"provided":[62,70],"camera":[64],"sensors,":[65],"data":[69,124],"active":[72],"sensors":[73,100],"independently":[74],"how":[76],"measurements":[79],"are.":[80],"We":[81,104],"introduce":[82],"framework":[84,110],"we":[85],"call":[86],"XDvision":[87],"where":[88],"colour":[89],"images":[90],"augmented":[92,137],"with":[93,122,126],"depth":[95],"obtained":[97],"from":[98],"sparser":[99],"such":[101],"as":[102],"lidars.":[103],"demonstrate":[105],"utility":[107],"our":[109,136],"comparing":[112],"performance":[114,128],"standard":[117],"CNN-based":[118],"image":[119,123],"classifier":[120],"fed":[121],"only":[125],"two-layer":[131],"multimodal":[132],"CNN":[133],"trained":[134],"using":[135],"representation.":[138]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}
