{"id":"https://openalex.org/W3193699827","doi":"https://doi.org/10.1109/robio54168.2021.9739520","title":"Flying Guide Dog: Walkable Path Discovery for the Visually Impaired Utilizing Drones and Transformer-based Semantic Segmentation","display_name":"Flying Guide Dog: Walkable Path Discovery for the Visually Impaired Utilizing Drones and Transformer-based Semantic Segmentation","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W3193699827","doi":"https://doi.org/10.1109/robio54168.2021.9739520","mag":"3193699827"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739520","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5009421777","display_name":"Haobin Tan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haobin Tan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100734451","display_name":"Chang Chen","orcid":"https://orcid.org/0000-0001-8281-9244"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chang Chen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019520928","display_name":"Xinyu Luo","orcid":"https://orcid.org/0000-0001-5104-3797"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xinyu Luo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100453769","display_name":"Jiaming Zhang","orcid":"https://orcid.org/0000-0001-9686-701X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiaming Zhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084474018","display_name":"Constantin Seibold","orcid":"https://orcid.org/0000-0001-6042-8437"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Constantin Seibold","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027010844","display_name":"Kailun Yang","orcid":"https://orcid.org/0000-0002-1090-667X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kailun Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5087051920","display_name":"Rainer Stiefelhagen","orcid":"https://orcid.org/0000-0001-8046-4945"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rainer Stiefelhagen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1123","last_page":"1128"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9994999766349792,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9994999766349792,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9976000189781189,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.8682073354721069},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.8337711691856384},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.759783148765564},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.66627436876297},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5581186413764954},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4762685000896454},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41563546657562256},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3722143769264221},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.2556267976760864},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12619632482528687},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10451781749725342}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8682073354721069},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.8337711691856384},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.759783148765564},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.66627436876297},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5581186413764954},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4762685000896454},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41563546657562256},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3722143769264221},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.2556267976760864},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12619632482528687},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10451781749725342},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739520","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1903029394","https://openalex.org/W2071275990","https://openalex.org/W2151905266","https://openalex.org/W2194775991","https://openalex.org/W2318248155","https://openalex.org/W2340897893","https://openalex.org/W2560023338","https://openalex.org/W2736525866","https://openalex.org/W2741346289","https://openalex.org/W2766328169","https://openalex.org/W2771992117","https://openalex.org/W2781228439","https://openalex.org/W2886934227","https://openalex.org/W2889628315","https://openalex.org/W2902499724","https://openalex.org/W2920908187","https://openalex.org/W2963403868","https://openalex.org/W2997806675","https://openalex.org/W3118753716","https://openalex.org/W3123306064","https://openalex.org/W3161183200","https://openalex.org/W3170544306","https://openalex.org/W3183804933","https://openalex.org/W3206532678","https://openalex.org/W3211490618","https://openalex.org/W3217258974","https://openalex.org/W4385245566","https://openalex.org/W6739901393","https://openalex.org/W6756512664","https://openalex.org/W6797399245","https://openalex.org/W6799321896"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W2059768187","https://openalex.org/W4247925126","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4327774218","https://openalex.org/W3206445629","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4379143281"],"abstract_inverted_index":{"Lacking":[0],"the":[1,55,60,63,73,78,83,93],"ability":[2],"to":[3,75,95,116,137],"sense":[4],"ambient":[5],"environments":[6],"effectively,":[7],"blind":[8],"and":[9,48,70,108,135],"visually":[10],"impaired":[11],"people":[12],"(BVIP)":[13],"face":[14],"difficulty":[15],"in":[16,20,126],"walking":[17],"outdoors,":[18],"especially":[19],"urban":[21],"areas.":[22],"Therefore,":[23],"tools":[24],"for":[25,43],"assisting":[26],"BVIP":[27,44,143],"are":[28],"of":[29,85,122],"great":[30],"importance.":[31],"In":[32],"this":[33],"paper,":[34],"we":[35,101],"propose":[36],"a":[37,97,103],"novel":[38],"\"flying":[39],"guide":[40],"dog\"":[41],"prototype":[42,90,132],"assistance":[45],"using":[46],"drone":[47,64],"street":[49,98],"view":[50],"semantic":[51],"segmentation.":[52],"Based":[53],"on":[54],"walkable":[56,79],"areas":[57],"extracted":[58],"from":[59],"segmentation":[61],"prediction,":[62],"can":[65,91],"adjust":[66],"its":[67],"movement":[68],"automatically":[69],"thus":[71],"lead":[72],"user":[74,94,124],"walk":[76],"along":[77],"path.":[80],"By":[81],"recognizing":[82],"color":[84],"pedestrian":[86],"traffic":[87,117],"lights,":[88],"our":[89,123,131],"help":[92],"cross":[96],"safely.":[99],"Furthermore,":[100],"introduce":[102],"new":[104,140],"dataset":[105],"named":[106],"Pedestrian":[107],"Vehicle":[109],"Traffic":[110],"Lights":[111],"(PVTL),":[112],"which":[113],"is":[114,133],"dedicated":[115],"light":[118],"recognition.":[119],"The":[120],"result":[121],"study":[125],"real-world":[127],"scenarios":[128],"shows":[129],"that":[130],"effective":[134],"easy":[136],"use,":[138],"providing":[139],"insight":[141],"into":[142],"assistance.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
