{"id":"https://openalex.org/W2791771980","doi":"https://doi.org/10.1109/robio.2017.8324396","title":"An illumination-invariant nonparametric model for urban road detection using monocular camera and single-line lidar","display_name":"An illumination-invariant nonparametric model for urban road detection using monocular camera and single-line lidar","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2791771980","doi":"https://doi.org/10.1109/robio.2017.8324396","mag":"2791771980"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5039025133","display_name":"Yingna Su","orcid":"https://orcid.org/0000-0003-2348-5082"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingna Su","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu province, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102723963","display_name":"Yigong Zhang","orcid":"https://orcid.org/0000-0002-4625-5688"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yigong Zhang","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu province, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101540588","display_name":"Jose M. \u00c1lvarez","orcid":"https://orcid.org/0000-0002-7535-6322"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jose M. Alvarez","raw_affiliation_strings":["CSIRO-Data61, Canberra, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIRO-Data61, Canberra, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036133825","display_name":"Hui Kong","orcid":"https://orcid.org/0000-0002-5303-0276"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Kong","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu province, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"68","last_page":"73"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9890999794006348,"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/lidar","display_name":"Lidar","score":0.7011604309082031},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6257236003875732},{"id":"https://openalex.org/keywords/nonparametric-statistics","display_name":"Nonparametric statistics","score":0.6237236261367798},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.619990885257721},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5951306819915771},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5675272345542908},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5181004405021667},{"id":"https://openalex.org/keywords/single-camera","display_name":"Single camera","score":0.43884673714637756},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4291543662548065},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.33789557218551636},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.24605587124824524},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19120612740516663},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13616904616355896},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06886675953865051}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7011604309082031},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6257236003875732},{"id":"https://openalex.org/C102366305","wikidata":"https://www.wikidata.org/wiki/Q1097688","display_name":"Nonparametric statistics","level":2,"score":0.6237236261367798},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.619990885257721},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5951306819915771},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5675272345542908},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5181004405021667},{"id":"https://openalex.org/C3018868555","wikidata":"https://www.wikidata.org/wiki/Q2918907","display_name":"Single camera","level":2,"score":0.43884673714637756},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4291543662548065},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.33789557218551636},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.24605587124824524},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19120612740516663},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13616904616355896},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06886675953865051},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1586661082","https://openalex.org/W1968256263","https://openalex.org/W2018726624","https://openalex.org/W2062120829","https://openalex.org/W2109618991","https://openalex.org/W2138361487","https://openalex.org/W2143516773","https://openalex.org/W2147598751","https://openalex.org/W2157738829","https://openalex.org/W2160072137","https://openalex.org/W2167222293","https://openalex.org/W2398512663","https://openalex.org/W2505004417","https://openalex.org/W2527450075","https://openalex.org/W2558027072","https://openalex.org/W2562137921","https://openalex.org/W6676579546"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4210818033"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,26,51,80],"propose":[4,52],"an":[5,40],"illumination-invariant":[6,41],"nonparametric":[7],"model":[8],"for":[9],"urban":[10],"road":[11,30,99,154],"detection":[12],"based":[13],"on":[14,126,150],"a":[15,19,53,58,151],"monocular":[16,24],"camera":[17],"and":[18,135],"single-line":[20,78],"lidar.":[21],"With":[22,44,76],"the":[23,35,45,62,66,77,87,97,105,111,115,131,136,145],"camera,":[25],"can":[27,73,81,101],"accurately":[28],"locate":[29,82],"vanishing":[31,49,67,112],"point":[32,68,113],"after":[33],"removing":[34],"adverse":[36],"shadowy":[37],"effect":[38],"by":[39],"image":[42,88],"representation.":[43],"constraint":[46],"of":[47,130,153],"detected":[48],"point,":[50],"Dijkstra":[54],"method":[55,122,146],"to":[56,69,92,114],"compute":[57],"minimum-cost":[59,63,106],"map,":[60],"where":[61],"path":[64],"from":[65,110],"any":[70],"other":[71],"pixel":[72],"be":[74,102],"found.":[75],"lidar,":[79],"two":[83,93,98,116],"key":[84,117],"points":[85],"in":[86],"bottom":[89],"that":[90,108,144],"correspond":[91],"road-border":[94],"points.":[95],"Thereafter,":[96],"borders":[100],"found":[103],"as":[104],"paths":[107],"originate":[109],"points,":[118],"respectively.":[119],"The":[120],"proposed":[121],"has":[123],"been":[124],"tested":[125],"over":[127],"4000":[128],"images":[129],"KITTI-Odometry":[132],"Dataset":[133,139],"[3]":[134],"Oxford":[137],"Robotcar":[138],"[7].":[140],"Experimental":[141],"results":[142],"demonstrate":[143],"achieves":[147],"promising":[148],"performance":[149],"variety":[152],"scenes.":[155]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}