{"id":"https://openalex.org/W2971697171","doi":"https://doi.org/10.1109/mits.2019.2898970","title":"Learning to Drive: End-to-End Off-Road Path Prediction","display_name":"Learning to Drive: End-to-End Off-Road Path Prediction","publication_year":2020,"publication_date":"2020-02-28","ids":{"openalex":"https://openalex.org/W2971697171","doi":"https://doi.org/10.1109/mits.2019.2898970","mag":"2971697171"},"language":"en","primary_location":{"id":"doi:10.1109/mits.2019.2898970","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2019.2898970","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://durham-repository.worktribe.com/output/1228930","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055783706","display_name":"Christopher J. Holder","orcid":"https://orcid.org/0000-0002-2277-6104"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Christopher J. Holder","raw_affiliation_strings":["Department of Computer Science, Durham University, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Durham University, United Kingdom","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045115593","display_name":"Toby P. Breckon","orcid":"https://orcid.org/0000-0003-1666-7590"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Toby P. Breckon","raw_affiliation_strings":["Department of Computer Science, Durham University, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Durham University, United Kingdom","institution_ids":["https://openalex.org/I190082696"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055783706"],"corresponding_institution_ids":["https://openalex.org/I190082696"],"apc_list":null,"apc_paid":null,"fwci":0.5033,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.65541691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"13","issue":"2","first_page":"217","last_page":"221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10036","display_name":"Advanced Neural Network Applications","score":0.9995999932289124,"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":0.9991000294685364,"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/computer-science","display_name":"Computer science","score":0.7176380157470703},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.6901332139968872},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.674599826335907},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.657269299030304},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6287649869918823},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5067568421363831},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5004580020904541},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.49637657403945923},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.49450990557670593},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.48917773365974426},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.47784897685050964},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4733462631702423},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4202573001384735},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39555686712265015},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3870681822299957},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2262098789215088},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17755013704299927}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7176380157470703},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.6901332139968872},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.674599826335907},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.657269299030304},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6287649869918823},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5067568421363831},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5004580020904541},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.49637657403945923},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.49450990557670593},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.48917773365974426},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.47784897685050964},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4733462631702423},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4202573001384735},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39555686712265015},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3870681822299957},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2262098789215088},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17755013704299927},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/mits.2019.2898970","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2019.2898970","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems Magazine","raw_type":"journal-article"},{"id":"pmh:oai:dro.dur.ac.uk.OAI2:34081","is_oa":false,"landing_page_url":"http://dro.dur.ac.uk/34081/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196258","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Intelligent Transportation Systems Magazine, 2021, Vol.13(2), pp.217-221 [Peer Reviewed Journal]","raw_type":"Article"},{"id":"pmh:oai:durham-repository.worktribe.com:1228930","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/1228930","pdf_url":null,"source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"}],"best_oa_location":{"id":"pmh:oai:durham-repository.worktribe.com:1228930","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/1228930","pdf_url":null,"source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"},"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1686810756","https://openalex.org/W1903029394","https://openalex.org/W2019329118","https://openalex.org/W2108598243","https://openalex.org/W2138361487","https://openalex.org/W2154844948","https://openalex.org/W2155893237","https://openalex.org/W2163605009","https://openalex.org/W2167224731","https://openalex.org/W2168676389","https://openalex.org/W2342840547","https://openalex.org/W2520369361","https://openalex.org/W2559767995","https://openalex.org/W2950094539","https://openalex.org/W2962894046","https://openalex.org/W2963881378","https://openalex.org/W6637373629","https://openalex.org/W6684191040","https://openalex.org/W6684338915"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"is":[2],"a":[3,7,18,27,55,73,85,103,118,124],"field":[4],"currently":[5],"gaining":[6],"lot":[8],"of":[9,63,113,135],"attention,":[10],"and":[11,131],"recently":[12],"?end":[13],"to":[14,23,58,65,79,106,122],"end?":[15],"approaches,":[16],"whereby":[17,61],"machine":[19],"learning":[20,64],"algorithm":[21],"learns":[22],"drive":[24],"by":[25],"emulating":[26],"human":[28],"driver,":[29],"have":[30],"demonstrated":[31],"significant":[32],"potential.":[33],"However,":[34],"recent":[35],"work":[36,52],"has":[37],"focused":[38],"on":[39],"the":[40,45,81,133],"on-road":[41],"environment,":[42],"rather":[43],"than":[44],"more":[46],"challenging":[47],"off-road":[48,91,141],"environment.":[49],"In":[50],"this":[51,59],"we":[53,71],"propose":[54],"new":[56],"approach":[57,105,137],"problem,":[60],"instead":[62],"predict":[66,80],"immediate":[67],"driver":[68],"control":[69],"inputs,":[70],"train":[72],"deep":[74],"convolutional":[75],"neural":[76],"network":[77],"(CNN)":[78],"future":[82],"path":[83],"that":[84],"vehicle":[86],"will":[87],"take":[88],"through":[89],"an":[90],"environment":[92],"visually,":[93],"addressing":[94],"several":[95],"limitations":[96],"inherent":[97],"in":[98],"existing":[99],"methods.":[100],"We":[101],"combine":[102],"novel":[104],"automatic":[107],"training":[108],"data":[109,142],"creation,":[110],"making":[111],"use":[112],"stereoscopic":[114],"visual":[115],"odometry,":[116],"with":[117],"state-of-the-art":[119],"CNN":[120],"architecture":[121],"map":[123],"predicted":[125],"route":[126],"directly":[127],"onto":[128],"image":[129],"pixels,":[130],"demonstrate":[132],"effectiveness":[134],"our":[136,139],"using":[138],"own":[140],"set.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}