{"id":"https://openalex.org/W4403094384","doi":"https://doi.org/10.1109/lra.2024.3474548","title":"Learning Semantic Traversability With Egocentric Video and Automated Annotation Strategy","display_name":"Learning Semantic Traversability With Egocentric Video and Automated Annotation Strategy","publication_year":2024,"publication_date":"2024-10-03","ids":{"openalex":"https://openalex.org/W4403094384","doi":"https://doi.org/10.1109/lra.2024.3474548"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3474548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3474548","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/A5106407012","display_name":"Y. H. KIM","orcid":"https://orcid.org/0009-0001-4985-8118"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yunho Kim","raw_affiliation_strings":["Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0009-0001-4985-8118","affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106403872","display_name":"Jeong Hyun Lee","orcid":"https://orcid.org/0000-0001-6598-2875"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeong Hyun Lee","raw_affiliation_strings":["Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-6598-2875","affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059478590","display_name":"Choongin Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Choongin Lee","raw_affiliation_strings":["Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088502604","display_name":"Juhyeok Mun","orcid":"https://orcid.org/0000-0002-6558-3660"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Juhyeok Mun","raw_affiliation_strings":["Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-6558-3660","affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043495281","display_name":"Donghoon Youm","orcid":"https://orcid.org/0009-0003-8735-9373"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghoon Youm","raw_affiliation_strings":["Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0009-0003-8735-9373","affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066318202","display_name":"Jeongsoo Park","orcid":"https://orcid.org/0000-0001-7619-1884"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeongsoo Park","raw_affiliation_strings":["Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080397455","display_name":"Jemin Hwangbo","orcid":"https://orcid.org/0000-0002-3444-8079"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jemin Hwangbo","raw_affiliation_strings":["Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-3444-8079","affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Lab, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.9857,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.74903451,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"11","first_page":"10423","last_page":"10430"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11439","display_name":"Video Analysis and Summarization","score":0.9472000002861023,"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/T11439","display_name":"Video Analysis and Summarization","score":0.9472000002861023,"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/T10181","display_name":"Natural Language Processing Techniques","score":0.917900025844574,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/computer-science","display_name":"Computer science","score":0.6962752342224121},{"id":"https://openalex.org/keywords/annotation","display_name":"Annotation","score":0.6461517214775085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.594031810760498},{"id":"https://openalex.org/keywords/semantic-annotation","display_name":"Semantic annotation","score":0.5546306371688843},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.49371537566185},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35548949241638184},{"id":"https://openalex.org/keywords/information-retrieval","display_name":"Information retrieval","score":0.34835001826286316}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6962752342224121},{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.6461517214775085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.594031810760498},{"id":"https://openalex.org/C2985727698","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Semantic annotation","level":3,"score":0.5546306371688843},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.49371537566185},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35548949241638184},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.34835001826286316}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3474548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3474548","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":[{"display_name":"Reduced inequalities","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2340897893","https://openalex.org/W2765757095","https://openalex.org/W2795889831","https://openalex.org/W2913921102","https://openalex.org/W2963424321","https://openalex.org/W3043971245","https://openalex.org/W3127756416","https://openalex.org/W3200223366","https://openalex.org/W3205786327","https://openalex.org/W3206164009","https://openalex.org/W4224292538","https://openalex.org/W4253729359","https://openalex.org/W4285304415","https://openalex.org/W4312302744","https://openalex.org/W4312441173","https://openalex.org/W4312815172","https://openalex.org/W4379803630","https://openalex.org/W4382322597","https://openalex.org/W4385430650","https://openalex.org/W4389667371","https://openalex.org/W4390874575","https://openalex.org/W4396684826","https://openalex.org/W4396910086","https://openalex.org/W4401416588","https://openalex.org/W4401416917","https://openalex.org/W6797399245","https://openalex.org/W6854362512"],"related_works":["https://openalex.org/W2369337446","https://openalex.org/W2126412646","https://openalex.org/W4385569300","https://openalex.org/W3032255889","https://openalex.org/W2574165153","https://openalex.org/W2251095918","https://openalex.org/W2206855020","https://openalex.org/W2105339902","https://openalex.org/W2900565345","https://openalex.org/W2972508764"],"abstract_inverted_index":{"For":[0],"reliable":[1],"autonomous":[2,173],"robot":[3,9,62,174],"navigation":[4,175],"in":[5,19,125,134],"urban":[6,153],"settings,":[7],"the":[8,12,20,24,28,48,60,112,156,162,178],"must":[10],"have":[11],"ability":[13,32],"to":[14,187],"identify":[15],"semantically":[16,122],"traversable":[17,123],"terrains":[18],"image":[21,135],"based":[22,34],"on":[23,35,47,104],"semantic":[25,36,43,85,113,180],"understanding":[26],"of":[27,161],"scene.":[29],"This":[30,51],"reasoning":[31],"is":[33,39,69,116,183],"traversability,":[37],"which":[38,68],"frequently":[40],"achieved":[41],"using":[42,88,129],"segmentation":[44,136],"models":[45],"fine-tuned":[46],"testing":[49],"domain.":[50],"fine-tuning":[52],"process":[53],"often":[54],"involves":[55],"manual":[56],"data":[57],"collection":[58],"with":[59,143],"target":[61],"and":[63,72,91,137,149,159,169,194],"annotation":[64,94,164],"by":[65,120],"human":[66],"labelers":[67],"prohibitively":[70],"expensive":[71],"unscalable.":[73],"In":[74],"this":[75],"work,":[76],"we":[77],"present":[78],"an":[79,92],"effective":[80],"methodology":[81],"for":[82,110,172],"training":[83,111],"a":[84,101,105,130],"traversability":[86,114,181],"estimator":[87,115,182],"egocentric":[89],"videos":[90,97,144],"automated":[93],"process.":[95],"Egocentric":[96],"are":[98],"collected":[99],"from":[100],"camera":[102,190],"mounted":[103],"pedestrian's":[106],"chest.":[107],"The":[108],"dataset":[109],"then":[117],"automatically":[118],"generated":[119],"extracting":[121],"regions":[124],"each":[126],"video":[127],"frame":[128],"recent":[131],"foundation":[132],"model":[133],"its":[138],"prompting":[139],"technique.":[140],"Extensive":[141],"experiments":[142],"taken":[145],"across":[146],"several":[147],"countries":[148],"cities,":[150],"covering":[151],"diverse":[152,189],"scenarios,":[154],"demonstrate":[155],"high":[157],"scalability":[158],"generalizability":[160],"proposed":[163],"method.":[165],"Furthermore,":[166],"performance":[167],"analysis":[168],"real-world":[170,195],"deployment":[171],"showcase":[176],"that":[177],"trained":[179],"highly":[184],"accurate,":[185],"able":[186],"handle":[188],"viewpoints,":[191],"computationally":[192],"light,":[193],"applicable.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2024-10-04T00:00:00"}
