{"id":"https://openalex.org/W4379803630","doi":"https://doi.org/10.1109/lra.2023.3284356","title":"Learning Off-Road Terrain Traversability With Self-Supervisions Only","display_name":"Learning Off-Road Terrain Traversability With Self-Supervisions Only","publication_year":2023,"publication_date":"2023-06-08","ids":{"openalex":"https://openalex.org/W4379803630","doi":"https://doi.org/10.1109/lra.2023.3284356"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3284356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3284356","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5101790800","display_name":"Junwon Seo","orcid":"https://orcid.org/0000-0002-5741-6774"},"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":"Junwon Seo","raw_affiliation_strings":["Agency for Defense Development, Daejeon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039464545","display_name":"Sungdae Sim","orcid":"https://orcid.org/0000-0002-3216-278X"},"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":"Sungdae Sim","raw_affiliation_strings":["Agency for Defense Development, Daejeon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066513515","display_name":"Inwook Shim","orcid":"https://orcid.org/0000-0002-9167-6748"},"institutions":[{"id":"https://openalex.org/I191879574","display_name":"Inha University","ror":"https://ror.org/01easw929","country_code":"KR","type":"education","lineage":["https://openalex.org/I191879574"]},{"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":"Inwook Shim","raw_affiliation_strings":["Agency for Defense Development, Daejeon, Republic of Korea","Department of Smart Mobility Engineering, Inha University, Incheon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]},{"raw_affiliation_string":"Department of Smart Mobility Engineering, Inha University, Incheon, Republic of Korea","institution_ids":["https://openalex.org/I191879574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101790800"],"corresponding_institution_ids":["https://openalex.org/I2801036362"],"apc_list":null,"apc_paid":null,"fwci":38.0454,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.9973271,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"8","issue":"8","first_page":"4617","last_page":"4624"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9979000091552734,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7906143665313721},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7814783453941345},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7648342847824097},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6983447074890137},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.6005095839500427},{"id":"https://openalex.org/keywords/supervised-learning","display_name":"Supervised learning","score":0.5950987339019775},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5319358110427856},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.44223254919052124},{"id":"https://openalex.org/keywords/self-driving","display_name":"Self driving","score":0.42760422825813293},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.42597293853759766},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.417568564414978},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.37601813673973083},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07563623785972595}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7906143665313721},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7814783453941345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7648342847824097},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6983447074890137},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.6005095839500427},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.5950987339019775},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5319358110427856},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.44223254919052124},{"id":"https://openalex.org/C3018391801","wikidata":"https://www.wikidata.org/wiki/Q741490","display_name":"Self driving","level":2,"score":0.42760422825813293},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.42597293853759766},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.417568564414978},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.37601813673973083},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07563623785972595},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3284356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3284356","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320323103","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W97351935","https://openalex.org/W2115579991","https://openalex.org/W2150066425","https://openalex.org/W2155487235","https://openalex.org/W2158131535","https://openalex.org/W2194775991","https://openalex.org/W2413995699","https://openalex.org/W2560023338","https://openalex.org/W2899867782","https://openalex.org/W2913921102","https://openalex.org/W2963424321","https://openalex.org/W2963662050","https://openalex.org/W2987228832","https://openalex.org/W3000916453","https://openalex.org/W3005680577","https://openalex.org/W3036224891","https://openalex.org/W3096411729","https://openalex.org/W3110913339","https://openalex.org/W3129245057","https://openalex.org/W3183588514","https://openalex.org/W3206164009","https://openalex.org/W3214308028","https://openalex.org/W4253729359","https://openalex.org/W4285304415","https://openalex.org/W4285610291","https://openalex.org/W4288024349","https://openalex.org/W4294410752","https://openalex.org/W4297798428","https://openalex.org/W4312302744","https://openalex.org/W4312929073","https://openalex.org/W4313639585","https://openalex.org/W4383171997","https://openalex.org/W6682961131","https://openalex.org/W6682962330","https://openalex.org/W6714644935","https://openalex.org/W6770196601","https://openalex.org/W6774314701","https://openalex.org/W6779997284","https://openalex.org/W6786697239","https://openalex.org/W6803919275","https://openalex.org/W6843310071"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W4294690775","https://openalex.org/W4389574494","https://openalex.org/W4200195314","https://openalex.org/W2156329176"],"abstract_inverted_index":{"Estimating":[0],"the":[1,90,96,124,168],"traversability":[2,52,68,79,178],"of":[3,126,132,135,149],"terrain":[4],"should":[5],"be":[6],"reliable":[7,161],"and":[8,31,59,152,155,181],"accurate":[9],"in":[10,16,69,146,163],"diverse":[11],"conditions":[12,154],"for":[13,40,50],"autonomous":[14],"driving":[15,83,150],"off-road":[17],"environments.":[18,165],"However,":[19],"learning-based":[20],"approaches":[21],"often":[22],"yield":[23],"unreliable":[24],"results":[25,170],"when":[26],"confronted":[27],"with":[28,185],"unfamiliar":[29],"contexts,":[30],"it":[32,64],"is":[33],"challenging":[34],"to":[35,65,111],"obtain":[36],"manual":[37,61],"annotations":[38],"frequently":[39],"new":[41,70],"circumstances.":[42,71],"In":[43,166],"this":[44,73],"letter,":[45],"we":[46,75,99,122,143],"introduce":[47],"a":[48,102,117,140,147],"method":[49,159,174],"learning":[51,134,187],"from":[53,81,113],"images":[54],"that":[55,105,108,157,172],"utilizes":[56],"only":[57],"self-supervision":[58],"no":[60],"labels,":[62,98],"enabling":[63],"easily":[66],"learn":[67],"To":[72,138],"end,":[74],"first":[76],"generate":[77],"self-supervised":[78,97,127,133,177],"labels":[80,128],"past":[82],"trajectories":[84],"by":[85,89,129],"labeling":[86],"regions":[87],"traversed":[88],"vehicle":[91],"as":[92],"highly":[93],"traversable.":[94],"Using":[95],"then":[100],"train":[101],"neural":[103],"network":[104],"identifies":[106],"terrains":[107],"are":[109],"safe":[110],"traverse":[112],"an":[114],"image":[115],"using":[116],"one-class":[118],"classification":[119],"algorithm.":[120],"Additionally,":[121],"supplement":[123],"limitations":[125],"incorporating":[130],"methods":[131,180,188],"visual":[136],"representations.":[137],"conduct":[139],"comprehensive":[141],"evaluation,":[142],"collect":[144],"data":[145],"variety":[148],"environments":[151],"perceptual":[153],"show":[156],"our":[158,173],"produces":[160],"estimations":[162],"various":[164],"addition,":[167],"experimental":[169],"validate":[171],"outperforms":[175],"other":[176],"estimation":[179],"achieves":[182],"comparable":[183],"performances":[184],"supervised":[186],"trained":[189],"on":[190],"manually":[191],"labeled":[192],"data.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":21}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}