{"id":"https://openalex.org/W7131810633","doi":"https://doi.org/10.1109/sii64115.2026.11404711","title":"RNBF: Real-Time RGB-D Based Neural Barrier Functions for Safe Robotic Navigation","display_name":"RNBF: Real-Time RGB-D Based Neural Barrier Functions for Safe Robotic Navigation","publication_year":2026,"publication_date":"2026-01-11","ids":{"openalex":"https://openalex.org/W7131810633","doi":"https://doi.org/10.1109/sii64115.2026.11404711"},"language":null,"primary_location":{"id":"doi:10.1109/sii64115.2026.11404711","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404711","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-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":"Satyajeet Das","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Satyajeet Das","raw_affiliation_strings":["University of Southern California,Los Angeles,CA,USA,90007"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Los Angeles,CA,USA,90007","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102188557","display_name":"Yifan Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yifan Xue","raw_affiliation_strings":["University of Pennsylvania,Philadelphia,PA,USA,19104"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065859286","display_name":"Hui Li","orcid":"https://orcid.org/0000-0001-9198-3951"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haoming Li","raw_affiliation_strings":["University of Pennsylvania,Philadelphia,PA,USA,19104"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074348852","display_name":"Nadia Figueroa","orcid":"https://orcid.org/0000-0002-6873-4671"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nadia Figueroa","raw_affiliation_strings":["University of Pennsylvania,Philadelphia,PA,USA,19104"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]}],"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":0.34083804,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"537","last_page":"544"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.19709999859333038,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.19709999859333038,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.14219999313354492,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.07259999960660934,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6496000289916992},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5230000019073486},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.49630001187324524},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4925999939441681},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.4885999858379364},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.47119998931884766},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43290001153945923},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3666999936103821}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6496000289916992},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6449000239372253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.57669997215271},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5230000019073486},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.49630001187324524},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4925999939441681},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.4885999858379364},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.47119998931884766},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.462799996137619},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43290001153945923},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38199999928474426},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3666999936103821},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.3409999907016754},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.32919999957084656},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.313400000333786},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.28940001130104065},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26820001006126404},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2635999917984009},{"id":"https://openalex.org/C131918245","wikidata":"https://www.wikidata.org/wiki/Q1409090","display_name":"Fetch","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.2533999979496002},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii64115.2026.11404711","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404711","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1980569135","https://openalex.org/W2137983211","https://openalex.org/W2161819990","https://openalex.org/W2787690100","https://openalex.org/W2909411248","https://openalex.org/W2963627347","https://openalex.org/W2968945909","https://openalex.org/W3046037353","https://openalex.org/W3145762295","https://openalex.org/W3171845842","https://openalex.org/W3207637958","https://openalex.org/W3215769467","https://openalex.org/W4200150166","https://openalex.org/W4205451316","https://openalex.org/W4249736682","https://openalex.org/W4283785867","https://openalex.org/W4312660220","https://openalex.org/W4383108854","https://openalex.org/W4383108882","https://openalex.org/W4383172026","https://openalex.org/W4390874575","https://openalex.org/W4392969749","https://openalex.org/W4394745351","https://openalex.org/W4401415870","https://openalex.org/W4405785932","https://openalex.org/W4405786385","https://openalex.org/W4413925238"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"safe":[1,24],"navigation":[2],"in":[3,34,104,126],"unstructured":[4],"and":[5,53,81,117,128],"novel":[6],"environments":[7,75],"poses":[8],"significant":[9],"challenges,":[10],"especially":[11],"when":[12],"environment":[13],"information":[14],"can":[15],"only":[16],"be":[17],"provided":[18],"through":[19],"low-cost":[20],"vision":[21],"sensors.":[22],"Although":[23],"reactive":[25,88],"approaches":[26],"have":[27],"been":[28],"proposed":[29,124],"to":[30],"ensure":[31],"robot":[32,46],"safety":[33],"complex":[35],"environments,":[36],"many":[37],"base":[38],"their":[39],"theory":[40],"off":[41],"the":[42,45,109,123],"assumption":[43],"that":[44,64],"has":[47],"prior":[48],"knowledge":[49],"on":[50],"obstacle":[51],"locations":[52],"geometries.":[54],"In":[55],"this":[56],"paper,":[57],"we":[58],"present":[59],"a":[60,132],"real-time,":[61],"vision-based":[62],"framework":[63],"constructs":[65],"continuous,":[66],"first-order":[67],"differentiable":[68],"Signed":[69],"Distance":[70],"Fields":[71],"(SDFs)":[72],"of":[73],"unknown":[74],"entirely":[76],"online,":[77],"without":[78],"any":[79],"pre-training,":[80],"is":[82],"fully":[83],"compatible":[84],"with":[85],"established":[86],"SDF-based":[87],"controllers.":[89],"To":[90],"achieve":[91],"robust":[92],"performance":[93],"under":[94],"practical":[95],"sensing":[96],"conditions,":[97],"our":[98],"approach":[99],"explicitly":[100],"accounts":[101],"for":[102,114],"noise":[103],"affordable":[105],"RGB-D":[106],"cameras,":[107],"refining":[108],"neural":[110],"SDF":[111],"representation":[112],"online":[113],"smoother":[115],"geometry":[116],"stable":[118],"gradient":[119],"estimates.":[120],"We":[121],"validate":[122],"method":[125],"simulation":[127],"real-world":[129],"experiments":[130],"using":[131],"Fetch":[133],"robot.":[134]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-28T00:00:00"}