{"id":"https://openalex.org/W4415593663","doi":"https://doi.org/10.1109/lra.2025.3625512","title":"STAF-Navi: Vision-Based Spatio-Temporal Attention Fusion Navigation Framework","display_name":"STAF-Navi: Vision-Based Spatio-Temporal Attention Fusion Navigation Framework","publication_year":2025,"publication_date":"2025-10-27","ids":{"openalex":"https://openalex.org/W4415593663","doi":"https://doi.org/10.1109/lra.2025.3625512"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3625512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3625512","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":null,"display_name":"Haowen Zhang","orcid":"https://orcid.org/0009-0004-3491-7623"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haowen Zhang","raw_affiliation_strings":["School of Electronic Information, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0004-3491-7623","affiliations":[{"raw_affiliation_string":"School of Electronic Information, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050737026","display_name":"Fanghong Liu","orcid":"https://orcid.org/0009-0002-0120-6716"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanghong Liu","raw_affiliation_strings":["School of Electronic Information, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0002-0120-6716","affiliations":[{"raw_affiliation_string":"School of Electronic Information, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chaoyu Zhang","orcid":"https://orcid.org/0009-0001-7682-3842"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyu Zhang","raw_affiliation_strings":["School of Electronic Information, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0001-7682-3842","affiliations":[{"raw_affiliation_string":"School of Electronic Information, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057910656","display_name":"Qiuze Yu","orcid":"https://orcid.org/0000-0003-2866-5939"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuze Yu","raw_affiliation_strings":["School of Electronic Information, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-2866-5939","affiliations":[{"raw_affiliation_string":"School of Electronic Information, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2643525,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"12","first_page":"12796","last_page":"12803"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9983999729156494,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9983999729156494,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980000257492065,"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":0.988099992275238,"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/software-deployment","display_name":"Software deployment","score":0.541700005531311},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4593999981880188},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.397599995136261},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.39089998602867126},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.3698999881744385},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.36390000581741333},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.36230000853538513},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.3456000089645386}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6862000226974487},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.541700005531311},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.538100004196167},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49970000982284546},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48260000348091125},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4593999981880188},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.397599995136261},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.39089998602867126},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.3698999881744385},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.36390000581741333},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.36230000853538513},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3456000089645386},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.34040001034736633},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.32510000467300415},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3133000135421753},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.26499998569488525},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.25540000200271606},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2547999918460846},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3625512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3625512","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1689711448","https://openalex.org/W1980969546","https://openalex.org/W2057799302","https://openalex.org/W2609009256","https://openalex.org/W2951360122","https://openalex.org/W2991625383","https://openalex.org/W3114626444","https://openalex.org/W3135067689","https://openalex.org/W3175421789","https://openalex.org/W3202883604","https://openalex.org/W4224914563","https://openalex.org/W4281479885","https://openalex.org/W4285289259","https://openalex.org/W4308603433","https://openalex.org/W4318624660","https://openalex.org/W4383109302","https://openalex.org/W4385245566","https://openalex.org/W4389667393","https://openalex.org/W4401414021","https://openalex.org/W4405778711","https://openalex.org/W4405785343","https://openalex.org/W4408254239"],"related_works":[],"abstract_inverted_index":{"In":[0],"cluttered,":[1],"unknown,":[2],"and":[3,43,49,54,72,81,98,115],"partially":[4],"observable":[5],"environments,":[6],"Unmanned":[7],"Aerial":[8],"Vehicle":[9],"(UAV)":[10],"navigation":[11,26,53,110],"encounters":[12],"formidable":[13],"challenges.":[14],"To":[15],"address":[16],"these":[17],"challenges,":[18],"we":[19],"propose":[20],"an":[21],"innovative":[22],"spatio-temporal":[23,33],"attention":[24,34],"fusion":[25],"framework":[27,31,107],"called":[28],"STAF-Navi.":[29],"The":[30],"integrates":[32],"mechanisms":[35],"to":[36,51,62,76],"model":[37,77],"sequential":[38],"dependencies.":[39],"It":[40],"captures":[41],"spatial":[42],"temporal":[44,91],"correlations":[45],"from":[46],"historical":[47,78],"observations":[48],"actions":[50],"improve":[52],"obstacle":[55],"avoidance.":[56],"STAF-Navi":[57],"employs":[58],"deep":[59],"collision":[60],"encoding":[61],"compress":[63],"high-dimensional":[64],"depth":[65],"images":[66],"into":[67],"informative":[68],"low-dimensional":[69],"latent":[70],"states,":[71,82],"a":[73],"single-site":[74],"Transformer":[75],"sensor":[79],"inputs":[80],"enhancing":[83],"the":[84,106,109,122,126],"utility":[85],"of":[86,125],"current":[87],"observations.":[88],"By":[89],"exploiting":[90],"dependencies,":[92],"this":[93],"integration":[94],"enables":[95],"early":[96],"braking":[97],"stable":[99],"hovering.":[100],"Extensive":[101],"simulation":[102],"experiments":[103],"show":[104],"that":[105],"increases":[108],"success":[111],"rate":[112],"by":[113,119],"10%":[114],"improves":[116],"path":[117],"efficiency":[118],"7%.":[120],"Finally,":[121],"successful":[123],"deployment":[124],"proposed":[127],"strategy":[128],"in":[129],"real-world":[130],"scenarios":[131],"validates":[132],"its":[133],"effectiveness.":[134]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-28T00:00:00"}