{"id":"https://openalex.org/W2897373036","doi":"https://doi.org/10.1109/ivs.2018.8500506","title":"Unifying terrain awareness through real-time semantic segmentation","display_name":"Unifying terrain awareness through real-time semantic segmentation","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2897373036","doi":"https://doi.org/10.1109/ivs.2018.8500506","mag":"2897373036"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2018.8500506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2018.8500506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5027010844","display_name":"Kailun Yang","orcid":"https://orcid.org/0000-0002-1090-667X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kailun Yang","raw_affiliation_strings":["College of Optical Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Optical Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077780013","display_name":"Luis M. Bergasa","orcid":"https://orcid.org/0000-0002-0087-3077"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis M. Bergasa","raw_affiliation_strings":["Department of Electronics, University of Alcal'a, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal'a, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101838212","display_name":"Eduardo Romera","orcid":"https://orcid.org/0000-0001-6250-6160"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Romera","raw_affiliation_strings":["Department of Electronics, University of Alcal'a, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal'a, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091401283","display_name":"Ruiqi Cheng","orcid":"https://orcid.org/0000-0001-7951-196X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruiqi Cheng","raw_affiliation_strings":["College of Optical Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Optical Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072374331","display_name":"Tianxue Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianxue Chen","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018263416","display_name":"Kaiwei Wang","orcid":"https://orcid.org/0000-0002-8272-3119"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiwei Wang","raw_affiliation_strings":["College of Optical Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Optical Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5027010844"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":3.7605,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.95293495,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1033","last_page":"1038"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991000294685364,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8127448558807373},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6307870745658875},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6118903160095215},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5812408924102783},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5551924109458923},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5188218951225281},{"id":"https://openalex.org/keywords/situation-awareness","display_name":"Situation awareness","score":0.4878961741924286},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4849667549133301},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39298638701438904},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3246001601219177}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8127448558807373},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6307870745658875},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6118903160095215},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5812408924102783},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5551924109458923},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5188218951225281},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.4878961741924286},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4849667549133301},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39298638701438904},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3246001601219177},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2018.8500506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2018.8500506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Clean water and sanitation","id":"https://metadata.un.org/sdg/6","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1560105747","https://openalex.org/W2085843461","https://openalex.org/W2091985678","https://openalex.org/W2125215748","https://openalex.org/W2194775991","https://openalex.org/W2246935507","https://openalex.org/W2318964089","https://openalex.org/W2419448466","https://openalex.org/W2461285056","https://openalex.org/W2507296351","https://openalex.org/W2549167833","https://openalex.org/W2560023338","https://openalex.org/W2561196672","https://openalex.org/W2620840419","https://openalex.org/W2729401099","https://openalex.org/W2734931634","https://openalex.org/W2736525866","https://openalex.org/W2745471877","https://openalex.org/W2748878066","https://openalex.org/W2762439315","https://openalex.org/W2765868993","https://openalex.org/W2768577426","https://openalex.org/W2771580944","https://openalex.org/W2796095228","https://openalex.org/W2949341804","https://openalex.org/W4293406525","https://openalex.org/W4299298190","https://openalex.org/W6691012000","https://openalex.org/W6717372056","https://openalex.org/W6718694398","https://openalex.org/W6724670942","https://openalex.org/W6730587030"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W4287694812","https://openalex.org/W3128716822","https://openalex.org/W3046762217","https://openalex.org/W4399442168","https://openalex.org/W2114282491"],"abstract_inverted_index":{"Active":[0],"research":[1],"on":[2,207],"computer":[3],"vision":[4,59],"accelerates":[5],"the":[6,18,35,87,103,107,123,139,153,163],"progress":[7],"in":[8,129],"autonomous":[9],"driving.":[10],"Following":[11],"this":[12,111],"trend,":[13],"we":[14,113],"aim":[15],"to":[16,29,47,93,116,121,191],"leverage":[17],"recently":[19],"emerged":[20],"methods":[21],"for":[22,34,138,152,198],"Intelligent":[23],"Vehicles":[24],"(IV),":[25],"and":[26,85,105,147,160,182,196],"transfer":[27],"them":[28],"develop":[30],"navigation":[31,210],"assistive":[32],"technologies":[33],"Visually":[36],"Impaired":[37],"(VI).":[38],"This":[39,133,188],"topic":[40],"grows":[41],"notoriously":[42],"challenging":[43],"as":[44],"it":[45],"requires":[46],"detect":[48],"a":[49,94,130,169,202,208],"variety":[50],"of":[51,56,72,89,126,155,165,171,205],"scenes":[52],"towards":[53],"higher":[54],"level":[55],"assistance.":[57],"Computer":[58],"based":[60,186],"techniques":[61],"with":[62,80,193],"monocular":[63],"detectors":[64,100],"or":[65],"depth":[66],"sensors":[67],"sprung":[68],"up":[69],"within":[70],"years":[71],"research.":[73],"These":[74],"separate":[75],"approaches":[76],"achieved":[77],"remarkable":[78],"results":[79],"relatively":[81],"low":[82],"processing":[83],"time,":[84],"improved":[86],"mobility":[88],"visually":[90],"impaired":[91],"people":[92],"large":[95],"extent.":[96],"However,":[97],"running":[98],"all":[99],"jointly":[101],"increases":[102],"latency":[104],"burdens":[106],"computational":[108],"resources.":[109],"In":[110],"paper,":[112],"put":[114],"forward":[115],"seize":[117],"pixel-wise":[118],"semantic":[119],"segmentation":[120],"cover":[122],"perception":[124],"needs":[125],"navigational":[127],"assistance":[128],"unified":[131],"way.":[132],"is":[134,168],"critical":[135],"not":[136],"only":[137],"terrain":[140],"awareness":[141],"regarding":[142],"traversable":[143],"areas,":[144],"sidewalks,":[145],"stairs":[146],"water":[148],"hazards,":[149],"but":[150],"also":[151],"avoidance":[154],"short-range":[156],"obstacles,":[157],"fast-approaching":[158],"pedestrians":[159],"vehicles.":[161],"At":[162],"heart":[164],"our":[166],"proposal":[167],"combination":[170],"efficient":[172],"residual":[173],"factorized":[174],"network":[175,180],"(ERFNet),":[176],"pyramid":[177],"scene":[178],"parsing":[179],"(PSPNet)":[181],"3D":[183],"point":[184],"cloud":[185],"segmentation.":[187],"approach":[189],"proves":[190],"be":[192],"qualified":[194],"accuracy":[195],"speed":[197],"real-world":[199],"applications":[200],"by":[201],"comprehensive":[203],"set":[204],"experiments":[206],"wearable":[209],"system.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
