{"id":"https://openalex.org/W3008069184","doi":"https://doi.org/10.1109/ssci44817.2019.9003137","title":"Road detection using lidar data based on plane assumption and graph model","display_name":"Road detection using lidar data based on plane assumption and graph model","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3008069184","doi":"https://doi.org/10.1109/ssci44817.2019.9003137","mag":"3008069184"},"language":"en","primary_location":{"id":"doi:10.1109/ssci44817.2019.9003137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssci44817.2019.9003137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Symposium Series on Computational Intelligence (SSCI)","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":"https://openalex.org/A5101645646","display_name":"Min Yan","orcid":"https://orcid.org/0000-0001-5955-1104"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Min Yan","raw_affiliation_strings":["Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, P. R. China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, P. R. China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100697058","display_name":"Junzheng Wang","orcid":"https://orcid.org/0000-0002-7351-2643"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzheng Wang","raw_affiliation_strings":["Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, P. R. China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, P. R. China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100336793","display_name":"Jing Li","orcid":"https://orcid.org/0000-0001-7682-4311"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Li","raw_affiliation_strings":["Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, P. R. China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, P. R. China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365771","display_name":"Ke Zhang","orcid":"https://orcid.org/0009-0001-6096-8158"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Zhang","raw_affiliation_strings":["Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, P. R. China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, P. R. China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004209539","display_name":"Zimu Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zimu Yang","raw_affiliation_strings":["Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, P. R. China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, P. R. China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101645646"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1575146,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3233","last_page":"3239"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987999796867371,"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/T11106","display_name":"Data Management and Algorithms","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/point-cloud","display_name":"Point cloud","score":0.7990381717681885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6753963232040405},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6432257890701294},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.5955125093460083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5927126407623291},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.5151904821395874},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.4944756031036377},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.47606322169303894},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.46600446105003357},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4545854330062866},{"id":"https://openalex.org/keywords/dual-graph","display_name":"Dual graph","score":0.42882078886032104},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3318002223968506},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2467677891254425},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1476927101612091},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12872016429901123},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.10083922743797302}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7990381717681885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6753963232040405},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6432257890701294},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.5955125093460083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5927126407623291},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.5151904821395874},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.4944756031036377},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.47606322169303894},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.46600446105003357},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4545854330062866},{"id":"https://openalex.org/C169827030","wikidata":"https://www.wikidata.org/wiki/Q2294516","display_name":"Dual graph","level":4,"score":0.42882078886032104},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3318002223968506},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2467677891254425},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1476927101612091},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12872016429901123},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.10083922743797302},{"id":"https://openalex.org/C203776342","wikidata":"https://www.wikidata.org/wiki/Q1378376","display_name":"Line graph","level":3,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssci44817.2019.9003137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssci44817.2019.9003137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Symposium Series on Computational Intelligence (SSCI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1490865140","https://openalex.org/W2002827932","https://openalex.org/W2051610568","https://openalex.org/W2061352600","https://openalex.org/W2077057258","https://openalex.org/W2085261163","https://openalex.org/W2100887497","https://openalex.org/W2165558283","https://openalex.org/W2167222293","https://openalex.org/W2596750703","https://openalex.org/W2614543743","https://openalex.org/W2737777104","https://openalex.org/W2767969486"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W2793256277","https://openalex.org/W4360958759","https://openalex.org/W2348235448","https://openalex.org/W2116218375","https://openalex.org/W2389906634","https://openalex.org/W176898926","https://openalex.org/W288156810","https://openalex.org/W2377607911","https://openalex.org/W2097232929"],"abstract_inverted_index":{"Detection":[0],"of":[1,7,94,103,112,131,136,148],"traversable":[2],"road":[3,21,74,137],"area":[4],"is":[5,61,97,115],"one":[6],"the":[8,47,53,58,81,86,90,95,101,104,109,113,121,129,134,141,146,159],"key":[9],"tasks":[10],"for":[11,40,71],"unmanned":[12],"platforms":[13],"to":[14,45,51,85,100],"achieve":[15],"autonomous":[16],"navigation.":[17],"We":[18],"propose":[19],"a":[20,64],"detection":[22,38,48,123],"method":[23,126],"using":[24],"lidar":[25],"data":[26],"based":[27],"on":[28,158],"plane":[29,87],"assumption":[30],"and":[31,50,108,133,139],"graph":[32],"model":[33],"in":[34,145],"this":[35],"paper.":[36],"Two":[37],"algorithms":[39,144],"different":[41],"speeds":[42],"are":[43,76],"provided":[44],"ensure":[46],"accuracy":[49],"meet":[52],"real-time":[54],"requirements,":[55],"respectively.":[56],"First,":[57],"point":[59,149],"cloud":[60,150],"projected":[62],"into":[63],"real":[65],"image":[66,70,118,143],"or":[67],"an":[68],"imaginary":[69],"triangulation.":[72],"The":[73],"points":[75,132],"then":[77],"extended":[78],"outward":[79],"from":[80],"near":[82],"platform":[83],"according":[84,99],"assumption.":[88],"Then":[89],"dual":[91],"Voronoi":[92],"diagram":[93],"triangulation":[96],"filled":[98],"attribute":[102],"central":[105],"element":[106],"node,":[107],"upper":[110],"part":[111],"horizon":[114],"removed.":[116],"Finally,":[117],"post-processing":[119],"yields":[120],"final":[122],"results.":[124,165],"This":[125],"perfectly":[127],"combines":[128],"classification":[130],"determination":[135],"areas":[138],"uses":[140],"mature":[142],"processing":[147],"data.":[151],"Experimental":[152],"tests":[153],"have":[154],"been":[155],"carried":[156],"out":[157],"public":[160],"KITTI-Road":[161],"benchmark,":[162],"obtaining":[163],"positive":[164]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
