{"id":"https://openalex.org/W4396542170","doi":"https://doi.org/10.1109/lra.2024.3396089","title":"Pixel to Elevation: Learning to Predict Elevation Maps at Long Range Using Images for Autonomous Offroad Navigation","display_name":"Pixel to Elevation: Learning to Predict Elevation Maps at Long Range Using Images for Autonomous Offroad Navigation","publication_year":2024,"publication_date":"2024-05-01","ids":{"openalex":"https://openalex.org/W4396542170","doi":"https://doi.org/10.1109/lra.2024.3396089"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3396089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3396089","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/A5084116779","display_name":"Chanyoung Chung","orcid":"https://orcid.org/0000-0003-2727-1030"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]},{"id":"https://openalex.org/I4210105175","display_name":"Mission Heritage Medical Group","ror":"https://ror.org/01jm17996","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210105175"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chanyoung Chung","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Field AI, Mission Viejo CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2727-1030","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Field AI, Mission Viejo CA, USA","institution_ids":["https://openalex.org/I4210105175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025866583","display_name":"Georgios Georgakis","orcid":"https://orcid.org/0000-0002-5501-2311"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Georgios Georgakis","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5501-2311","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006271370","display_name":"Patrick Spieler","orcid":"https://orcid.org/0000-0002-7538-135X"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick Spieler","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7538-135X","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000867705","display_name":"Curtis Padgett","orcid":"https://orcid.org/0000-0003-2390-0258"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Curtis Padgett","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2390-0258","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110480055","display_name":"Ali Agha","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105175","display_name":"Mission Heritage Medical Group","ror":"https://ror.org/01jm17996","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210105175"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali Agha","raw_affiliation_strings":["Field AI, Mission Viejo, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5509-1841","affiliations":[{"raw_affiliation_string":"Field AI, Mission Viejo, CA, USA","institution_ids":["https://openalex.org/I4210105175"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076595826","display_name":"Shehryar Khattak","orcid":"https://orcid.org/0000-0002-9304-1455"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shehryar Khattak","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9304-1455","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.3876,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.96011867,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":"7","first_page":"6170","last_page":"6177"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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":0.9921000003814697,"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/terrain","display_name":"Terrain","score":0.7110092043876648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7056455612182617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6489870548248291},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.6458384990692139},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5802821516990662},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2056681513786316},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11941200494766235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11231130361557007}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7110092043876648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7056455612182617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6489870548248291},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.6458384990692139},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5802821516990662},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2056681513786316},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11941200494766235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11231130361557007},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3396089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3396089","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":[{"score":0.47999998927116394,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G3648211085","display_name":null,"funder_award_id":"80NM0018D0004","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2131991591","https://openalex.org/W2143360790","https://openalex.org/W2154871086","https://openalex.org/W2170965888","https://openalex.org/W2413995699","https://openalex.org/W2600201730","https://openalex.org/W2606840594","https://openalex.org/W2886851716","https://openalex.org/W2963760790","https://openalex.org/W2964326562","https://openalex.org/W2971265822","https://openalex.org/W2991553150","https://openalex.org/W3010003086","https://openalex.org/W3038429043","https://openalex.org/W3109395584","https://openalex.org/W3136017713","https://openalex.org/W3151130473","https://openalex.org/W3172084025","https://openalex.org/W3174748154","https://openalex.org/W3203158837","https://openalex.org/W3204782551","https://openalex.org/W3206335707","https://openalex.org/W4200150166","https://openalex.org/W4206010013","https://openalex.org/W4285102484","https://openalex.org/W4312641958","https://openalex.org/W4312894406","https://openalex.org/W4323527544","https://openalex.org/W4383066393","https://openalex.org/W4383108631","https://openalex.org/W4385416313","https://openalex.org/W4387682177","https://openalex.org/W4392405817","https://openalex.org/W6703405610","https://openalex.org/W6739901393","https://openalex.org/W6762718338"],"related_works":["https://openalex.org/W4386906247","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747"],"abstract_inverted_index":{"Understanding":[0],"terrain":[1,51,110,157,190,197],"topology":[2,198],"at":[3,17,35,54,199],"long-range":[4],"is":[5,66,76,98,122,166],"crucial":[6],"for":[7,27,148],"the":[8,83,102,135,142,164,172,195,210,216],"success":[9],"of":[10,49,68,144,212,215],"off-road":[11],"robotic":[12,151,226],"missions,":[13],"especially":[14],"when":[15,33],"navigating":[16],"high-speeds.":[18],"LiDAR":[19],"sensors,":[20],"which":[21],"are":[22,204],"currently":[23],"heavily":[24],"relied":[25],"upon":[26],"geometric":[28],"mapping,":[29],"provide":[30],"sparse":[31],"measurements":[32],"mapping":[34],"greater":[36],"distances.":[37],"To":[38],"address":[39],"this":[40],"challenge,":[41],"we":[42],"present":[43],"a":[44,73,117],"novel":[45],"learning-based":[46],"approach":[47,147,218],"capable":[48],"predicting":[50,189],"elevation":[52,90,130,191],"maps":[53],"longrange":[55],"using":[56,158],"only":[57],"onboard":[58],"egocentric":[59,84],"images":[60],"in":[61,153,187],"real-time.":[62],"Our":[63],"proposed":[64,99,123,146,217],"method":[65,165,183],"comprised":[67],"three":[69],"main":[70],"elements.":[71],"First,":[72],"transformer-based":[74],"encoder":[75],"introduced":[77],"that":[78,181],"learns":[79],"crossview":[80],"associations":[81],"between":[82,129],"views":[85],"and":[86,155,168,208,219],"prior":[87],"birdeye-":[88],"view":[89],"map":[91,120,131],"predictions.":[92],"Second,":[93],"an":[94],"orientationaware":[95],"positional":[96],"encoding":[97],"to":[100,124,133,206,223],"incorporate":[101],"3D":[103],"vehicle":[104],"pose":[105],"information":[106],"over":[107],"complex":[108,154],"unstructured":[109,156],"with":[111],"multi-view":[112],"visual":[113],"image":[114],"features.":[115],"Lastly,":[116],"history-augmented":[118],"learnable":[119],"embedding":[121],"achieve":[125],"better":[126],"temporal":[127],"consistency":[128],"predictions":[132],"facilitate":[134],"downstream":[136],"navigational":[137],"tasks.":[138],"We":[139],"experimentally":[140],"validate":[141,220],"applicability":[143],"our":[145,182],"autonomous":[149],"offroad":[150,160,225],"navigation":[152,227],"real-world":[159],"driving":[161],"data.":[162],"Furthermore,":[163],"qualitatively":[167],"quantitatively":[169],"compared":[170],"against":[171],"current":[173],"stateof-":[174],"the-art":[175],"methods.":[176],"Extensive":[177],"field":[178],"experiments":[179],"demonstrate":[180],"surpasses":[184],"baseline":[185],"models":[186],"accurately":[188],"while":[192],"effectively":[193],"capturing":[194],"overall":[196],"long-ranges.":[200],"Finally,":[201],"ablation":[202],"studies":[203],"conducted":[205],"highlight":[207],"understand":[209],"effect":[211],"key":[213],"components":[214],"their":[221],"suitability":[222],"improve":[224],"capabilities.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}