{"id":"https://openalex.org/W4396542220","doi":"https://doi.org/10.1109/lra.2024.3396095","title":"W-RIZZ: A Weakly-Supervised Framework for Relative Traversability Estimation in Mobile Robotics","display_name":"W-RIZZ: A Weakly-Supervised Framework for Relative Traversability Estimation in Mobile Robotics","publication_year":2024,"publication_date":"2024-05-01","ids":{"openalex":"https://openalex.org/W4396542220","doi":"https://doi.org/10.1109/lra.2024.3396095"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3396095","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3396095","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10504377/10517454.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/10504377/10517454.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000875409","display_name":"Andr\u00e9 Schreiber","orcid":"https://orcid.org/0000-0001-8975-819X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andre Schreiber","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0000-0001-8975-819X","affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035652463","display_name":"Arun N. Sivakumar","orcid":"https://orcid.org/0000-0001-8711-9431"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arun N. Sivakumar","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0000-0001-8711-9431","affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086195138","display_name":"Peter Du","orcid":"https://orcid.org/0000-0001-9073-7521"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Du","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0000-0001-9073-7521","affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018467711","display_name":"Mateus V. Gasparino","orcid":"https://orcid.org/0000-0001-7900-8061"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mateus V. Gasparino","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0000-0001-7900-8061","affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073739058","display_name":"Girish Chowdhary","orcid":"https://orcid.org/0000-0002-4657-307X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Girish Chowdhary","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-4657-307X","affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059066811","display_name":"Katherine Driggs-Campbell","orcid":"https://orcid.org/0000-0003-3760-9859"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katherine Driggs-Campbell","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0000-0003-3760-9859","affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana- Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":0.8214,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.69327358,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"9","issue":"6","first_page":"5623","last_page":"5630"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"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":0.9951000213623047,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9822999835014343,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.978600025177002,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.6920711994171143},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6260719299316406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4912413954734802},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.4614587724208832},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1815546452999115},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1435142159461975},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.049325644969940186}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6920711994171143},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6260719299316406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4912413954734802},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4614587724208832},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1815546452999115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1435142159461975},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.049325644969940186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3396095","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3396095","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10504377/10517454.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2024.3396095","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3396095","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10504377/10517454.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4396542220.pdf"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W611457968","https://openalex.org/W1484387568","https://openalex.org/W1861492603","https://openalex.org/W1974868116","https://openalex.org/W2076491823","https://openalex.org/W2158427031","https://openalex.org/W2194775991","https://openalex.org/W2221366145","https://openalex.org/W2336416123","https://openalex.org/W2337429362","https://openalex.org/W2560023338","https://openalex.org/W2600777408","https://openalex.org/W2612236014","https://openalex.org/W2739253758","https://openalex.org/W2765757095","https://openalex.org/W2805475117","https://openalex.org/W2913921102","https://openalex.org/W3003922739","https://openalex.org/W3127756416","https://openalex.org/W3135285255","https://openalex.org/W3205835814","https://openalex.org/W3206164009","https://openalex.org/W4214586682","https://openalex.org/W4287888303","https://openalex.org/W4312302744","https://openalex.org/W4313639585","https://openalex.org/W4379803630","https://openalex.org/W4383171997","https://openalex.org/W4389666587","https://openalex.org/W6703405610","https://openalex.org/W6733814495","https://openalex.org/W6764051988"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W4233452137","https://openalex.org/W4254857216","https://openalex.org/W4231626925","https://openalex.org/W2962829499","https://openalex.org/W2767518918","https://openalex.org/W2131444840","https://openalex.org/W2414929284","https://openalex.org/W192849109"],"abstract_inverted_index":{"Successful":[0],"deployment":[1,154],"of":[2,11,103,107,124,132,150],"mobile":[3,157],"robots":[4],"in":[5,30,159],"unstructured":[6],"domains":[7],"requires":[8],"an":[9],"understanding":[10],"the":[12,31,100,122,130,146],"environment":[13,32],"and":[14,22,73,120,141,148],"terrain":[15],"to":[16,75,77,116],"avoid":[17],"hazardous":[18],"areas,":[19],"getting":[20],"stuck,":[21],"colliding":[23],"with":[24],"obstacles.":[25],"Traversability":[26],"estimation\u2013which":[27],"predicts":[28],"where":[29],"a":[33,57,88,104,136,156],"robot":[34,158],"can":[35],"travel\u2013is":[36],"one":[37],"prominent":[38],"approach":[39],"that":[40],"tackles":[41],"this":[42],"problem.":[43],"Existing":[44],"geometric":[45],"methods":[46,63,119],"may":[47],"ignore":[48],"important":[49],"semantic":[50,53],"considerations,":[51],"while":[52],"segmentation":[54],"approaches":[55],"involve":[56],"tedious":[58],"labeling":[59,65,113,139],"process.":[60],"Recent":[61],"self-supervised":[62,125],"reduce":[64],"tedium,":[66],"but":[67],"require":[68],"additional":[69],"data":[70],"or":[71],"models":[72],"tend":[74],"struggle":[76],"explicitly":[78],"label":[79],"untraversable":[80],"areas.":[81],"To":[82],"address":[83],"these":[84],"limitations,":[85],"we":[86],"introduce":[87],"weakly-supervised":[89],"method":[90,96,134,152],"for":[91],"relative":[92,101],"traversability":[93,102],"estimation.":[94],"Our":[95],"involves":[97],"manually":[98],"annotating":[99],"small":[105],"number":[106],"point":[108],"pairs,":[109],"which":[110],"significantly":[111],"reduces":[112],"effort":[114],"compared":[115],"traditional":[117],"segmentation-based":[118],"avoids":[121],"limitations":[123],"methods.":[126],"We":[127,144],"further":[128],"improve":[129],"performance":[131,149],"our":[133,151],"through":[135,153],"novel":[137],"cross-image":[138],"strategy":[140],"loss":[142],"function.":[143],"demonstrate":[145],"viability":[147],"on":[155],"outdoor":[160],"environments.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}