{"id":"https://openalex.org/W4413980239","doi":"https://doi.org/10.1109/rcar65431.2025.11139707","title":"Safe mobility support system using crowd mapping and avoidance route planning using VLM","display_name":"Safe mobility support system using crowd mapping and avoidance route planning using VLM","publication_year":2025,"publication_date":"2025-06-01","ids":{"openalex":"https://openalex.org/W4413980239","doi":"https://doi.org/10.1109/rcar65431.2025.11139707"},"language":"en","primary_location":{"id":"doi:10.1109/rcar65431.2025.11139707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139707","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2602.10910","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Sena Saito","orcid":null},"institutions":[{"id":"https://openalex.org/I207399273","display_name":"Utsunomiya University","ror":"https://ror.org/05bx1gz93","country_code":"JP","type":"education","lineage":["https://openalex.org/I207399273"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sena Saito","raw_affiliation_strings":["Utsunomiya University,Graduate School of Regional Development and Creativity, Division of Engineering and Agriculture, Graduate School,Tochigi,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Utsunomiya University,Graduate School of Regional Development and Creativity, Division of Engineering and Agriculture, Graduate School,Tochigi,Japan","institution_ids":["https://openalex.org/I207399273"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058489404","display_name":"Kenta Tabata","orcid":"https://orcid.org/0000-0002-7994-4957"},"institutions":[{"id":"https://openalex.org/I207399273","display_name":"Utsunomiya University","ror":"https://ror.org/05bx1gz93","country_code":"JP","type":"education","lineage":["https://openalex.org/I207399273"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenta Tabata","raw_affiliation_strings":["Utsunomiya University,Graduate School of Regional Development and Creativity, Division of Engineering and Agriculture, Graduate School,Tochigi,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Utsunomiya University,Graduate School of Regional Development and Creativity, Division of Engineering and Agriculture, Graduate School,Tochigi,Japan","institution_ids":["https://openalex.org/I207399273"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017184377","display_name":"Renato Miyagusuku","orcid":"https://orcid.org/0000-0003-2471-2187"},"institutions":[{"id":"https://openalex.org/I207399273","display_name":"Utsunomiya University","ror":"https://ror.org/05bx1gz93","country_code":"JP","type":"education","lineage":["https://openalex.org/I207399273"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Renato Miyagusuku","raw_affiliation_strings":["Utsunomiya University,Graduate School of Regional Development and Creativity, Division of Engineering and Agriculture, Graduate School,Tochigi,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Utsunomiya University,Graduate School of Regional Development and Creativity, Division of Engineering and Agriculture, Graduate School,Tochigi,Japan","institution_ids":["https://openalex.org/I207399273"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091284023","display_name":"Koichi OZAKI","orcid":"https://orcid.org/0000-0003-0602-5551"},"institutions":[{"id":"https://openalex.org/I207399273","display_name":"Utsunomiya University","ror":"https://ror.org/05bx1gz93","country_code":"JP","type":"education","lineage":["https://openalex.org/I207399273"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Ozaki","raw_affiliation_strings":["Utsunomiya University,Graduate School of Regional Development and Creativity, Division of Engineering and Agriculture, Graduate School,Tochigi,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Utsunomiya University,Graduate School of Regional Development and Creativity, Division of Engineering and Agriculture, Graduate School,Tochigi,Japan","institution_ids":["https://openalex.org/I207399273"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I207399273"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19735181,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"727","last_page":"732"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12406","display_name":"IoT and GPS-based Vehicle Safety Systems","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12406","display_name":"IoT and GPS-based Vehicle Safety Systems","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9659000039100647,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12707","display_name":"Vehicle License Plate Recognition","score":0.9254000186920166,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6122417449951172},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4705926179885864},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36714377999305725},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3500828146934509},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.33269500732421875},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3308750092983246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19756737351417542},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19518086314201355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17319616675376892}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6122417449951172},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4705926179885864},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36714377999305725},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3500828146934509},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.33269500732421875},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3308750092983246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19756737351417542},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19518086314201355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17319616675376892}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/rcar65431.2025.11139707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139707","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2602.10910","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2602.10910","pdf_url":"https://arxiv.org/pdf/2602.10910","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"pmh:doi:10.48550/arxiv.2602.10910","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"Article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2602.10910","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2602.10910","pdf_url":"https://arxiv.org/pdf/2602.10910","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413980239.pdf","grobid_xml":"https://content.openalex.org/works/W4413980239.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1963649406","https://openalex.org/W1994005439","https://openalex.org/W2071005201","https://openalex.org/W2082585576","https://openalex.org/W2169528473","https://openalex.org/W2748490912","https://openalex.org/W2793254521","https://openalex.org/W2890001928","https://openalex.org/W2962731062","https://openalex.org/W2963287487","https://openalex.org/W2963757717","https://openalex.org/W3004672782","https://openalex.org/W3008195728","https://openalex.org/W3120962545","https://openalex.org/W3131482536","https://openalex.org/W4214813322","https://openalex.org/W4313594490"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W2111158727","https://openalex.org/W1809059965","https://openalex.org/W2024668666","https://openalex.org/W2155287816","https://openalex.org/W2132826624","https://openalex.org/W4281385974","https://openalex.org/W1990568201","https://openalex.org/W2125569607"],"abstract_inverted_index":{"Autonomous":[0],"mobile":[1],"robots":[2,84],"offer":[3],"promising":[4],"solutions":[5],"for":[6,49],"labor":[7],"shortages":[8],"and":[9,16,37,67,92,98],"increased":[10],"operational":[11],"efficiency.":[12],"However,":[13],"navigating":[14],"safely":[15],"effectively":[17],"in":[18],"dynamic":[19,44,93],"environments,":[20],"particularly":[21],"crowded":[22],"areas,":[23],"remains":[24],"challenging.":[25],"This":[26],"paper":[27],"proposes":[28],"a":[29,79],"novel":[30],"framework":[31],"that":[32,83],"integrates":[33],"Vision-Language":[34],"Models":[35],"(VLM)":[36],"Gaussian":[38],"Process":[39],"Regression":[40],"(GPR)":[41],"to":[42,58],"generate":[43],"crowd-density":[45],"maps":[46],"(\"Abstraction":[47],"Maps\")":[48],"autonomous":[50],"robot":[51],"navigation.":[52],"Our":[53],"approach":[54],"utilizes":[55],"VLM\u2019s":[56],"capability":[57],"recognize":[59],"abstract":[60],"environmental":[61],"concepts,":[62],"such":[63],"as":[64],"crowd":[65],"densities,":[66],"represents":[68],"them":[69],"probabilistically":[70],"via":[71],"GPR.":[72],"Experimental":[73],"results":[74],"from":[75],"real-world":[76],"trials":[77],"on":[78],"university":[80],"campus":[81],"demonstrated":[82],"successfully":[85],"generated":[86],"routes":[87],"avoiding":[88],"both":[89],"static":[90],"obstacles":[91],"crowds,":[94],"enhancing":[95],"navigation":[96],"safety":[97],"adaptability.":[99]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}