{"id":"https://openalex.org/W4411337018","doi":"https://doi.org/10.1109/tim.2025.3579733","title":"SG-RoadSeg+: End-to-End Freespace Detection Upgraded at Data, Feature, and Loss Levels","display_name":"SG-RoadSeg+: End-to-End Freespace Detection Upgraded at Data, Feature, and Loss Levels","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411337018","doi":"https://doi.org/10.1109/tim.2025.3579733"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3579733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3579733","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-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/A5059971279","display_name":"Maryland Lee","orcid":"https://orcid.org/0009-0003-1782-1833"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming-Ju Lee","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0003-1782-1833","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114860663","display_name":"Zhiyuan Wu","orcid":"https://orcid.org/0009-0001-7253-7603"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Wu","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0001-7253-7603","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037285766","display_name":"Chengju Liu","orcid":"https://orcid.org/0000-0001-7543-0855"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengju Liu","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-7543-0855","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100448688","display_name":"Wei Ye","orcid":"https://orcid.org/0000-0002-3784-7788"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Ye","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-3784-7788","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070534945","display_name":"Sergey Vityazev","orcid":"https://orcid.org/0000-0002-9851-5066"},"institutions":[{"id":"https://openalex.org/I4210149385","display_name":"Ryazan State Radio Engineering University","ror":"https://ror.org/04y34yk39","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210149385"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sergey Vityazev","raw_affiliation_strings":["Department of Basis of Radio Engineering and Telecommunication, Ryazan State Radio Engineering University, Ryazan, Russia","Ryazan State Radio Engineering University, Ryazan, Russian Federation"],"raw_orcid":"https://orcid.org/0000-0002-9851-5066","affiliations":[{"raw_affiliation_string":"Department of Basis of Radio Engineering and Telecommunication, Ryazan State Radio Engineering University, Ryazan, Russia","institution_ids":["https://openalex.org/I4210149385"]},{"raw_affiliation_string":"Ryazan State Radio Engineering University, Ryazan, Russian Federation","institution_ids":["https://openalex.org/I4210149385"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073789459","display_name":"Qijun Chen","orcid":"https://orcid.org/0000-0001-5644-1188"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qijun Chen","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5644-1188","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038867899","display_name":"Rui Fan","orcid":"https://orcid.org/0000-0003-2593-6596"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]},{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Rui Fan","raw_affiliation_strings":["College of Electronics and Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and the Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, Shanghai, China","Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-2593-6596","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and the Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]},{"raw_affiliation_string":"Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, College of Electronics & Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5235,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.8412503,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"74","issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10535","display_name":"Landslides and related hazards","score":0.9758999943733215,"subfield":{"id":"https://openalex.org/subfields/2308","display_name":"Management, Monitoring, Policy and Law"},"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/T10535","display_name":"Landslides and related hazards","score":0.9758999943733215,"subfield":{"id":"https://openalex.org/subfields/2308","display_name":"Management, Monitoring, Policy and Law"},"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/T11609","display_name":"Geophysical Methods and Applications","score":0.9753999710083008,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T13282","display_name":"Automated Road and Building Extraction","score":0.9426000118255615,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/end-to-end-principle","display_name":"End-to-end principle","score":0.6773989796638489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4966452717781067},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4136769771575928},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.18410205841064453}],"concepts":[{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.6773989796638489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4966452717781067},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4136769771575928},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.18410205841064453},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3579733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3579733","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G500374774","display_name":null,"funder_award_id":"62333017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5736016220","display_name":null,"funder_award_id":"62233013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G624276446","display_name":null,"funder_award_id":"62176184","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G708414365","display_name":null,"funder_award_id":"62388101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8893963792","display_name":null,"funder_award_id":"62473288","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2112921976","https://openalex.org/W2159132531","https://openalex.org/W2167222293","https://openalex.org/W2194775991","https://openalex.org/W2520707372","https://openalex.org/W2560023338","https://openalex.org/W2587989515","https://openalex.org/W2743627947","https://openalex.org/W2787091153","https://openalex.org/W2921749009","https://openalex.org/W2963446712","https://openalex.org/W2963583471","https://openalex.org/W2969350702","https://openalex.org/W2979872609","https://openalex.org/W3080961686","https://openalex.org/W3087980862","https://openalex.org/W3111807772","https://openalex.org/W3164543136","https://openalex.org/W3183941844","https://openalex.org/W3196385186","https://openalex.org/W3207814250","https://openalex.org/W4205367143","https://openalex.org/W4206989765","https://openalex.org/W4221148818","https://openalex.org/W4283327872","https://openalex.org/W4294643298","https://openalex.org/W4312358868","https://openalex.org/W4312688875","https://openalex.org/W4313188982","https://openalex.org/W4323338516","https://openalex.org/W4385219066","https://openalex.org/W4385302127","https://openalex.org/W4386071550","https://openalex.org/W4386076114","https://openalex.org/W4386148403","https://openalex.org/W4388145440","https://openalex.org/W4390872625","https://openalex.org/W4391892429","https://openalex.org/W4394896985","https://openalex.org/W4396667787","https://openalex.org/W4400111956","https://openalex.org/W4401414089","https://openalex.org/W4401747775","https://openalex.org/W4402754131","https://openalex.org/W4404238224","https://openalex.org/W4407449677","https://openalex.org/W4408181533","https://openalex.org/W4410294774","https://openalex.org/W4410949680"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2151749779","https://openalex.org/W3179968364","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109"],"abstract_inverted_index":{"Freespace":[0],"detection":[1,148,219],"is":[2,69],"essential":[3],"for":[4,17,42,86],"autonomous":[5],"robotic":[6],"systems,":[7],"particularly":[8],"self-driving":[9],"vehicles":[10],"that":[11,178],"depend":[12],"on":[13,153,170],"precise":[14,105],"environmental":[15,106],"perception":[16],"safe":[18],"navigation.":[19],"State-of-the-art":[20],"methods":[21],"typically":[22],"use":[23],"dual":[24],"encoders":[25],"to":[26,81,122,127,166,188,201],"extract":[27],"features":[28],"from":[29],"RGB":[30],"images":[31],"and":[32,40,56,77,130,174,192,209],"other":[33,202],"data":[34,110],"sources,":[35],"which":[36,49,73],"are":[37],"then":[38],"fused":[39],"decoded":[41],"freespace":[43,59,88,147,218],"prediction.":[44],"This":[45],"article":[46],"presents":[47],"SG-RoadSeg+,":[48],"incorporates":[50],"the":[51,70,91,96,100,119,160,171,181,198],"transformed":[52,75],"disparity-azimuth-zenith":[53],"(TAZ)":[54],"map":[55,158,200],"a":[57,140,154],"novel":[58],"disparity":[60,76,101,157],"projection":[61,98],"linearity":[62],"(FDPL)":[63],"loss":[64,93],"function.":[65],"The":[66],"key":[67],"advancement":[68],"TAZ":[71,199],"map,":[72],"integrates":[74],"surface":[78],"normal":[79],"maps":[80],"enrich":[82],"spatial":[83,162],"understanding,":[84],"necessary":[85],"accurate":[87],"detection.":[89],"Additionally,":[90],"FDPL":[92],"function":[94],"optimizes":[95],"linear":[97],"of":[99,186],"during":[102],"training,":[103],"ensuring":[104],"measurements.":[107],"Moreover,":[108],"our":[109],"augmentation":[111],"technique,":[112],"using":[113],"random":[114],"perspective":[115],"transformations,":[116],"primarily":[117],"enhances":[118],"system\u2019s":[120],"generalization":[121],"real-world":[123],"environments,":[124],"enabling":[125],"it":[126],"handle":[128],"complex":[129],"dynamic":[131],"scenarios":[132],"more":[133],"effectively.":[134],"Our":[135],"previous":[136,182],"model,":[137],"SG-RoadSeg,":[138],"uses":[139],"deep":[141],"stereo":[142],"encoder,":[143],"resulting":[144],"in":[145,190,194,216],"strong":[146],"performance.":[149],"However,":[150],"its":[151,214],"reliance":[152],"single":[155],"estimated":[156],"limits":[159],"available":[161],"information,":[163],"potentially":[164],"leading":[165],"inaccuracies.":[167],"Comprehensive":[168],"experiments":[169],"KITTI":[172],"Road":[173],"Semantics":[175],"datasets":[176],"show":[177],"SG-RoadSeg+":[179],"outperforms":[180],"version,":[183],"with":[184],"improvements":[185],"up":[187],"0.73%":[189],"IoU":[191,210],"0.51%":[193],"F-score.":[195],"Notably,":[196],"applying":[197],"feature-fusion":[203],"models":[204],"improves":[205],"F-score":[206],"by":[207,211],"3.27%":[208],"6.44%,":[212],"highlighting":[213],"effectiveness":[215],"boosting":[217],"accuracy.":[220]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}