{"id":"https://openalex.org/W4321194488","doi":"https://doi.org/10.1109/lra.2023.3246383","title":"Polyline Generative Navigable Space Segmentation for Autonomous Visual Navigation","display_name":"Polyline Generative Navigable Space Segmentation for Autonomous Visual Navigation","publication_year":2023,"publication_date":"2023-02-17","ids":{"openalex":"https://openalex.org/W4321194488","doi":"https://doi.org/10.1109/lra.2023.3246383"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3246383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3246383","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5071884616","display_name":"Zheng Chen","orcid":"https://orcid.org/0000-0003-2439-9282"},"institutions":[{"id":"https://openalex.org/I4210119109","display_name":"Indiana University Bloomington","ror":"https://ror.org/02k40bc56","country_code":"US","type":"education","lineage":["https://openalex.org/I4210119109","https://openalex.org/I592451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zheng Chen","raw_affiliation_strings":["Luddy School of Informatics, Computing, and Engineering, Indiana University, Bloomington, IN, USA"],"raw_orcid":"https://orcid.org/0000-0003-2439-9282","affiliations":[{"raw_affiliation_string":"Luddy School of Informatics, Computing, and Engineering, Indiana University, Bloomington, IN, USA","institution_ids":["https://openalex.org/I4210119109"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083458247","display_name":"Zhengming Ding","orcid":"https://orcid.org/0000-0002-6994-5278"},"institutions":[{"id":"https://openalex.org/I114832834","display_name":"Tulane University","ror":"https://ror.org/04vmvtb21","country_code":"US","type":"education","lineage":["https://openalex.org/I114832834"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhengming Ding","raw_affiliation_strings":["Department of Computer Science, Tulane University, New Orleans, LA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6994-5278","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Tulane University, New Orleans, LA, USA","institution_ids":["https://openalex.org/I114832834"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003268415","display_name":"David Crandall","orcid":"https://orcid.org/0000-0002-5827-5344"},"institutions":[{"id":"https://openalex.org/I4210119109","display_name":"Indiana University Bloomington","ror":"https://ror.org/02k40bc56","country_code":"US","type":"education","lineage":["https://openalex.org/I4210119109","https://openalex.org/I592451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David J. Crandall","raw_affiliation_strings":["Luddy School of Informatics, Computing, and Engineering, Indiana University, Bloomington, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-5827-5344","affiliations":[{"raw_affiliation_string":"Luddy School of Informatics, Computing, and Engineering, Indiana University, Bloomington, IN, USA","institution_ids":["https://openalex.org/I4210119109"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101917996","display_name":"Lantao Liu","orcid":"https://orcid.org/0000-0002-6796-6817"},"institutions":[{"id":"https://openalex.org/I4210119109","display_name":"Indiana University Bloomington","ror":"https://ror.org/02k40bc56","country_code":"US","type":"education","lineage":["https://openalex.org/I4210119109","https://openalex.org/I592451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lantao Liu","raw_affiliation_strings":["Luddy School of Informatics, Computing, and Engineering, Indiana University, Bloomington, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-6796-6817","affiliations":[{"raw_affiliation_string":"Luddy School of Informatics, Computing, and Engineering, Indiana University, Bloomington, IN, USA","institution_ids":["https://openalex.org/I4210119109"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1173,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.93561717,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"8","issue":"4","first_page":"2054","last_page":"2061"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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"}},"topics":[{"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994999766349792,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9986000061035156,"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/autoencoder","display_name":"Autoencoder","score":0.7440456748008728},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7121843099594116},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.629081666469574},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6080580353736877},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6077022552490234},{"id":"https://openalex.org/keywords/parsing","display_name":"Parsing","score":0.5343911051750183},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5027720928192139},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5006163120269775},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4415570795536041},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37146034836769104},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.29722049832344055},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18232738971710205}],"concepts":[{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.7440456748008728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7121843099594116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.629081666469574},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6080580353736877},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6077022552490234},{"id":"https://openalex.org/C186644900","wikidata":"https://www.wikidata.org/wiki/Q194152","display_name":"Parsing","level":2,"score":0.5343911051750183},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5027720928192139},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5006163120269775},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4415570795536041},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37146034836769104},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.29722049832344055},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18232738971710205},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3246383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3246383","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1686810756","https://openalex.org/W1901129140","https://openalex.org/W1959608418","https://openalex.org/W2104095591","https://openalex.org/W2115579991","https://openalex.org/W2163411428","https://openalex.org/W2163922914","https://openalex.org/W2167222293","https://openalex.org/W2547875792","https://openalex.org/W2609825896","https://openalex.org/W2795276939","https://openalex.org/W2799213142","https://openalex.org/W2904849495","https://openalex.org/W2947897713","https://openalex.org/W2962778872","https://openalex.org/W2963527086","https://openalex.org/W2965289249","https://openalex.org/W2979394918","https://openalex.org/W2981669902","https://openalex.org/W2982631194","https://openalex.org/W3034512672","https://openalex.org/W3034604951","https://openalex.org/W3035433720","https://openalex.org/W3035709993","https://openalex.org/W3080961686","https://openalex.org/W3083074253","https://openalex.org/W3105378872","https://openalex.org/W4224304836","https://openalex.org/W4283327872","https://openalex.org/W4295246696","https://openalex.org/W4300479382","https://openalex.org/W6637373629","https://openalex.org/W6640963894","https://openalex.org/W6729448088","https://openalex.org/W6749589925","https://openalex.org/W6757140150","https://openalex.org/W6758420182","https://openalex.org/W6759669191","https://openalex.org/W6763612067","https://openalex.org/W6766978945"],"related_works":["https://openalex.org/W2517104666","https://openalex.org/W2005437358","https://openalex.org/W1669643531","https://openalex.org/W2039154422","https://openalex.org/W2008656436","https://openalex.org/W2182382398","https://openalex.org/W2122581818","https://openalex.org/W2134924024","https://openalex.org/W2023558673","https://openalex.org/W2110230079"],"abstract_inverted_index":{"Detecting":[0],"navigable":[1,22,41,92,108,136],"space":[2,23,42,93,109,137],"is":[3],"a":[4,26,34,45,59,71,74,84,141],"fundamental":[5],"capability":[6],"for":[7,38],"mobile":[8],"robots":[9],"navigating":[10],"in":[11,44,149],"unknown":[12],"or":[13,112],"unmapped":[14],"environments.":[15,151],"In":[16,66,128],"this":[17,67],"work,":[18,68],"we":[19,69,98,130],"treat":[20],"visual":[21,107,142],"segmentation":[24,43,49,138],"as":[25],"scene":[27],"decomposition":[28],"problem":[29],"and":[30,78],"proposePolylineSegmentationVariational":[31],"autoencoderNetwork":[32],"(PSV-Net),":[33],"representation":[35,86],"learning-based":[36],"framework":[37,72],"learning":[39,55],"the":[40,90,101,106,134],"self-supervised":[46],"manner.":[47],"Current":[48],"techniques":[50],"heavily":[51],"rely":[52],"on":[53],"fully-supervised":[54,120],"strategies":[56],"which":[57],"demand":[58],"large":[60],"amount":[61],"of":[62],"pixel-level":[63],"annotated":[64],"images.":[65],"propose":[70],"leveraging":[73],"Variational":[75],"AutoEncoder":[76,80],"(VAE)":[77],"an":[79,116],"(AE)":[81],"to":[82,119],"learn":[83,105],"polyline":[85],"that":[87,100,123,132],"compactly":[88],"outlines":[89],"desired":[91],"boundary.":[94],"Through":[95],"extensive":[96],"experiments,":[97],"validate":[99],"proposed":[102,135],"PSV-Net":[103],"can":[104,144],"with":[110,140],"no":[111],"few":[113],"labels,":[114],"producing":[115],"accuracy":[117],"comparable":[118],"state-of-the-art":[121],"methods":[122],"use":[124],"all":[125],"available":[126],"labels.":[127],"addition,":[129],"show":[131],"integrating":[133],"model":[139],"planner":[143],"achieve":[145],"efficient":[146],"mapless":[147],"navigation":[148],"real":[150]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
