{"id":"https://openalex.org/W4392908015","doi":"https://doi.org/10.1109/lra.2024.3376957","title":"Trimodal Navigable Region Segmentation Model: Grounding Navigation Instructions in Urban Areas","display_name":"Trimodal Navigable Region Segmentation Model: Grounding Navigation Instructions in Urban Areas","publication_year":2024,"publication_date":"2024-03-18","ids":{"openalex":"https://openalex.org/W4392908015","doi":"https://doi.org/10.1109/lra.2024.3376957"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3376957","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3376957","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/A5008855260","display_name":"Naoki Hosomi","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]},{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Naoki Hosomi","raw_affiliation_strings":["Keio University, Kanagawa, Japan","Honda R&D Company, Ltd., Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Keio University, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Honda R&D Company, Ltd., Tokyo, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021832682","display_name":"Shumpei Hatanaka","orcid":"https://orcid.org/0009-0006-6338-3098"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shumpei Hatanaka","raw_affiliation_strings":["Keio University, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Keio University, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091150900","display_name":"Yui Iioka","orcid":"https://orcid.org/0009-0002-1353-4549"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yui Iioka","raw_affiliation_strings":["Keio University, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Keio University, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100663923","display_name":"Wei Yang","orcid":"https://orcid.org/0000-0001-8406-2812"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wei Yang","raw_affiliation_strings":["Keio University, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Keio University, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094179876","display_name":"Katsuyuki Kuyo","orcid":"https://orcid.org/0009-0003-5746-9387"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Katsuyuki Kuyo","raw_affiliation_strings":["Keio University, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Keio University, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084637778","display_name":"Teruhisa Misu","orcid":"https://orcid.org/0000-0002-6398-9245"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Teruhisa Misu","raw_affiliation_strings":["Honda Research Institute USA, Inc., San Jose, CA, USA"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Inc., San Jose, CA, USA","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616622","display_name":"Kentaro Yamada","orcid":"https://orcid.org/0009-0003-8202-7417"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kentaro Yamada","raw_affiliation_strings":["Honda R&amp;D Company, Ltd., Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Honda R&amp;D Company, Ltd., Tokyo, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033744547","display_name":"Komei Sugiura","orcid":"https://orcid.org/0000-0002-0261-0510"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Komei Sugiura","raw_affiliation_strings":["Keio University, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Keio University, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5008855260"],"corresponding_institution_ids":["https://openalex.org/I1283473643","https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":2.0168,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84107506,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"9","issue":"5","first_page":"4162","last_page":"4169"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9373999834060669,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11622","display_name":"Maritime Navigation and Safety","score":0.9373999834060669,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/segmentation","display_name":"Segmentation","score":0.6410728693008423},{"id":"https://openalex.org/keywords/ground","display_name":"Ground","score":0.57417231798172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5536191463470459},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.36156994104385376},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.350881963968277},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.3439689874649048},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3323967456817627},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.32661134004592896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15625706315040588}],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6410728693008423},{"id":"https://openalex.org/C168993435","wikidata":"https://www.wikidata.org/wiki/Q6501125","display_name":"Ground","level":2,"score":0.57417231798172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5536191463470459},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.36156994104385376},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.350881963968277},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.3439689874649048},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3323967456817627},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.32661134004592896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15625706315040588},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3376957","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3376957","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":[{"score":0.7599999904632568,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2293770242","https://openalex.org/W2302548814","https://openalex.org/W2964345792","https://openalex.org/W2965373594","https://openalex.org/W2970603850","https://openalex.org/W2979727876","https://openalex.org/W2980088508","https://openalex.org/W2982419388","https://openalex.org/W2994827984","https://openalex.org/W2997886377","https://openalex.org/W3003391301","https://openalex.org/W3035574168","https://openalex.org/W3094502228","https://openalex.org/W3104529101","https://openalex.org/W3112077297","https://openalex.org/W3138516171","https://openalex.org/W3198196812","https://openalex.org/W3213351348","https://openalex.org/W3215863079","https://openalex.org/W4200166436","https://openalex.org/W4200631575","https://openalex.org/W4221150352","https://openalex.org/W4283798518","https://openalex.org/W4300479382","https://openalex.org/W4312815172","https://openalex.org/W4312935996","https://openalex.org/W4313002440","https://openalex.org/W4383108807","https://openalex.org/W4389053170","https://openalex.org/W6729482032","https://openalex.org/W6763578275","https://openalex.org/W6766673545","https://openalex.org/W6804418671"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0,102],"this":[1,103],"study,":[2,104],"we":[3,18,105],"develop":[4],"a":[5,28,99,107],"model":[6,29,117,149],"that":[7,59,157],"enables":[8],"mobilities":[9],"to":[10,82,94,131,141],"have":[11],"more":[12],"friendly":[13],"interactions":[14],"with":[15,64],"users.":[16],"Specifically,":[17],"focus":[19],"on":[20,150],"the":[21,34,37,52,119,127,137,143,151,161],"referring":[22],"navigable":[23,31],"regions":[24,32],"task":[25,47],"in":[26,57],"which":[27],"grounds":[30],"of":[33,51,54,69,111],"road":[35],"using":[36],"mobility's":[38],"camera":[39],"image":[40],"and":[41,114,136],"natural":[42],"language":[43],"navigation":[44],"instructions.":[45],"This":[46],"is":[48,72,92],"challenging":[49],"because":[50,75],"requirement":[53],"vision-and-language":[55],"comprehension":[56],"situations":[58],"involve":[60],"rapidly":[61],"changing":[62],"environments":[63],"other":[65],"mobilities.":[66],"The":[67,154],"performance":[68],"existing":[70],"methods":[71],"insufficient,":[73],"partly":[74],"they":[76],"do":[77],"not":[78],"consider":[79],"features":[80,97],"related":[81],"scene":[83],"context,":[84],"such":[85],"as":[86],"semantic":[87,133],"segmentation":[88,134],"information.":[89],"Therefore,":[90],"it":[91],"important":[93],"incorporate":[95],"these":[96],"into":[98],"multimodal":[100],"encoder.":[101],"propose":[106],"trimodal":[108],"(three":[109],"modalities":[110],"language,":[112],"image,":[113],"mask)":[115],"encoder-decoder":[116],"called":[118],"Trimodal":[120],"Navigable":[121],"Region":[122],"Segmentation":[123],"Model.":[124],"We":[125,146],"introduce":[126],"Text-Mask":[128],"Encoder":[129],"Block":[130],"process":[132],"masks":[135],"Day-Night":[138],"Classification":[139],"Branch":[140],"balance":[142],"input":[144],"modalities.":[145],"validated":[147],"our":[148,158],"Talk2Car-RegSeg":[152],"dataset.":[153],"results":[155],"demonstrated":[156],"method":[159,163],"outperformed":[160],"baseline":[162],"for":[164],"standard":[165],"metrics.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
