{"id":"https://openalex.org/W4313496237","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995888","title":"CNN-Planner: A neural path planner based on sensor fusion in the bird's eye view representation space for mapless autonomous driving","display_name":"CNN-Planner: A neural path planner based on sensor fusion in the bird's eye view representation space for mapless autonomous driving","publication_year":2022,"publication_date":"2022-10-18","ids":{"openalex":"https://openalex.org/W4313496237","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995888"},"language":"en","primary_location":{"id":"doi:10.1109/lars/sbr/wre56824.2022.9995888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE)","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/A5019933170","display_name":"Luis Alberto Rosero","orcid":"https://orcid.org/0000-0002-3667-0677"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Luis Rosero","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,S&#x00E3;o Carlos,S\u00e3o Paulo,Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,S&#x00E3;o Carlos,S\u00e3o Paulo,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104033792","display_name":"J\u00fanior Silva","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Junior Silva","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,S&#x00E3;o Carlos,S\u00e3o Paulo,Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,S&#x00E3;o Carlos,S\u00e3o Paulo,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047424364","display_name":"Denis F. Wolf","orcid":"https://orcid.org/0000-0003-1485-5686"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Denis Wolf","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,S&#x00E3;o Carlos,S\u00e3o Paulo,Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,S&#x00E3;o Carlos,S\u00e3o Paulo,Brazil","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030595758","display_name":"Fernando Santos Os\u00f3rio","orcid":"https://orcid.org/0000-0002-6620-2794"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fernando Osorio","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,S&#x00E3;o Carlos,S\u00e3o Paulo,Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,S&#x00E3;o Carlos,S\u00e3o Paulo,Brazil","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019933170"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.604,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.68161911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"181","last_page":"186"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8240748643875122},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6482378244400024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6424898505210876},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5652773976325989},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5464795827865601},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5454226136207581},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5225979089736938},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48267725110054016},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4766879081726074},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4722710847854614},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.458456426858902},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.440847247838974},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40690547227859497},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08815497159957886}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8240748643875122},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6482378244400024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6424898505210876},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5652773976325989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5464795827865601},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5454226136207581},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5225979089736938},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48267725110054016},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4766879081726074},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4722710847854614},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.458456426858902},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.440847247838974},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40690547227859497},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08815497159957886},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars/sbr/wre56824.2022.9995888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1630437312","https://openalex.org/W1912649600","https://openalex.org/W1994530392","https://openalex.org/W2109061107","https://openalex.org/W2119112357","https://openalex.org/W2159021170","https://openalex.org/W2163385431","https://openalex.org/W2192586580","https://openalex.org/W2194775991","https://openalex.org/W2342840547","https://openalex.org/W2570720149","https://openalex.org/W2763476526","https://openalex.org/W2962894046","https://openalex.org/W3009593063","https://openalex.org/W3034445502","https://openalex.org/W3094213092","https://openalex.org/W3172863135","https://openalex.org/W3198460218","https://openalex.org/W4214759451","https://openalex.org/W4307769109","https://openalex.org/W4312862130","https://openalex.org/W6684338915","https://openalex.org/W6704559304","https://openalex.org/W6772033386","https://openalex.org/W6784504470","https://openalex.org/W6803807927"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251","https://openalex.org/W2067790096"],"abstract_inverted_index":{"Autonomous":[0,18,215],"driving":[1,29,44],"in":[2,24,128,212],"urban":[3],"environments":[4],"without":[5],"High":[6],"Definition(HD)":[7],"maps":[8],"is":[9],"probably":[10],"one":[11],"of":[12,57,120,205],"the":[13,55,143,165,174,183,213],"most":[14],"difficult":[15],"tasks":[16],"for":[17,34,146],"Vehicles":[19],"(AVs),":[20],"Many":[21],"solutions":[22],"grouped":[23],"modular":[25,74,152],"pipelines":[26],"and":[27,61,72,94,105,177,188,202],"end-to-end":[28,111],"approaches":[30,60],"have":[31],"been":[32,47],"proposed":[33],"solving":[35],"this":[36,51],"motion":[37,64,87,196,210],"planning":[38,88,93,100,148],"problem.":[39],"However,":[40],"safe":[41],"mapless":[42,80],"autonomous":[43,81],"has":[45],"not":[46],"fully":[48],"resolved.":[49],"In":[50],"paper":[52],"we":[53,85,149,192],"take":[54],"best":[56],"these":[58],"two":[59,90],"propose":[62],"a":[63,73,102,117,135,151,156,170,178,194],"planner":[65,114,197],"powered":[66],"by":[67,108],"deep":[68],"learning,":[69],"sensor":[70,125],"fusion,":[71],"perception":[75],"pipeline":[76,153],"to":[77,161],"perform":[78],"confident":[79],"driving.":[82],"For":[83],"this,":[84],"divide":[86],"into":[89],"tasks:":[91],"lateral":[92,99,187],"longitudinal":[95,147,189],"planning.":[96],"We":[97],"address":[98],"as":[101,123],"path-following":[103],"problem":[104],"solve":[106],"it":[107],"creating":[109],"an":[110],"neural":[112],"path":[113],"that":[115,154,198],"regresses":[116],"dense":[118],"set":[119],"waypoints":[121],"taking":[122],"input":[124],"data":[126],"fusion":[127],"Bird's":[129],"Eye":[130],"View":[131],"(BEV)":[132],"space,":[133],"then":[134],"low-level":[136,179],"MPC":[137],"controller":[138,181],"follows":[139,182],"generated":[140],"waypoints.":[141],"On":[142],"other":[144,206],"hand,":[145],"use":[150],"uses":[155],"Finite":[157],"State":[158],"Machine":[159],"(FSM)":[160],"make":[162],"decisions":[163],"about":[164],"ego":[166],"car":[167],"speed,":[168],"where":[169],"detection":[171],"stack":[172],"defines":[173],"FSM":[175],"inputs":[176],"PID":[180],"desired":[184],"speed.":[185],"Putting":[186],"planners":[190,211],"together":[191],"obtain":[193],"successful":[195],"outperforms":[199],"several":[200],"baselines":[201],"matches":[203],"results":[204],"more":[207],"complex":[208],"state-of-the-art":[209],"CARLA":[214],"Driving":[216],"Leaderboard.":[217]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
