{"id":"https://openalex.org/W2109196765","doi":"https://doi.org/10.1109/tits.2010.2095499","title":"Automatic Road Environment Classification","display_name":"Automatic Road Environment Classification","publication_year":2010,"publication_date":"2010-12-22","ids":{"openalex":"https://openalex.org/W2109196765","doi":"https://doi.org/10.1109/tits.2010.2095499","mag":"2109196765"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2010.2095499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2010.2095499","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://durham-repository.worktribe.com/output/1418842","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111897563","display_name":"Isabelle Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I88814501","display_name":"Institut National des Sciences Appliqu\u00e9es Rouen Normandie","ror":"https://ror.org/020ws7586","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I88814501"]},{"id":"https://openalex.org/I62396329","display_name":"Universit\u00e9 de Rouen Normandie","ror":"https://ror.org/03nhjew95","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I62396329"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Isabelle Tang","raw_affiliation_strings":["INSA Rouen, Rouen, France","INSA de Rouen, Rouen, France#TAB#"],"affiliations":[{"raw_affiliation_string":"INSA Rouen, Rouen, France","institution_ids":["https://openalex.org/I88814501","https://openalex.org/I62396329"]},{"raw_affiliation_string":"INSA de Rouen, Rouen, France#TAB#","institution_ids":["https://openalex.org/I88814501"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045115593","display_name":"Toby P. Breckon","orcid":"https://orcid.org/0000-0003-1666-7590"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Toby P. Breckon","raw_affiliation_strings":["School of Engineering, Cranfield University, Bedfordshire, UK","School of Engineering, Cranfield University,Cranfield,UK"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Cranfield University, Bedfordshire, UK","institution_ids":["https://openalex.org/I82284825"]},{"raw_affiliation_string":"School of Engineering, Cranfield University,Cranfield,UK","institution_ids":["https://openalex.org/I82284825"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111897563"],"corresponding_institution_ids":["https://openalex.org/I62396329","https://openalex.org/I88814501"],"apc_list":null,"apc_paid":null,"fwci":6.8809,"has_fulltext":false,"cited_by_count":91,"citation_normalized_percentile":{"value":0.96625767,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"12","issue":"2","first_page":"476","last_page":"484"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9987000226974487,"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/T12707","display_name":"Vehicle License Plate Recognition","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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":0.9969000220298767,"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/terrain","display_name":"Terrain","score":0.636235237121582},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5969125628471375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5512930154800415},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.5315893292427063},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5311241149902344},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.45920708775520325},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.204058438539505},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10572269558906555}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.636235237121582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5969125628471375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5512930154800415},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.5315893292427063},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5311241149902344},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.45920708775520325},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.204058438539505},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10572269558906555}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tits.2010.2095499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2010.2095499","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:dspace.lib.cranfield.ac.uk:1826/7587","is_oa":false,"landing_page_url":"http://dspace.lib.cranfield.ac.uk/handle/1826/7587","pdf_url":null,"source":{"id":"https://openalex.org/S4306401778","display_name":"CERES (Cranfield University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82284825","host_organization_name":"Cranfield University","host_organization_lineage":["https://openalex.org/I82284825"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:durham-repository.worktribe.com:1418842","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/1418842","pdf_url":null,"source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:durham-repository.worktribe.com:1418842","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/1418842","pdf_url":null,"source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7300000190734863}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320343","display_name":"Cranfield University","ror":"https://ror.org/05cncd958"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1512390800","https://openalex.org/W1518058488","https://openalex.org/W1892261429","https://openalex.org/W1967891793","https://openalex.org/W1969840923","https://openalex.org/W1981934656","https://openalex.org/W1994506623","https://openalex.org/W2013986276","https://openalex.org/W2019329118","https://openalex.org/W2025051119","https://openalex.org/W2029683515","https://openalex.org/W2044465660","https://openalex.org/W2077709713","https://openalex.org/W2095905764","https://openalex.org/W2100158203","https://openalex.org/W2100567228","https://openalex.org/W2110006698","https://openalex.org/W2112092250","https://openalex.org/W2122102310","https://openalex.org/W2125574651","https://openalex.org/W2131085577","https://openalex.org/W2134992114","https://openalex.org/W2138187652","https://openalex.org/W2139018966","https://openalex.org/W2140056216","https://openalex.org/W2145023731","https://openalex.org/W2160139400","https://openalex.org/W2161977181","https://openalex.org/W2544686959","https://openalex.org/W2664836350","https://openalex.org/W2735481140","https://openalex.org/W4256068510","https://openalex.org/W6617389551","https://openalex.org/W6729625774"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2772917594","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"The":[0],"ongoing":[1],"development":[2],"autonomous":[3],"vehicles":[4,13],"and":[5,68,84,99,120,132,141],"adaptive":[6],"vehicle":[7,40],"dynamics":[8],"present":[9],"in":[10,94],"many":[11],"modern":[12],"has":[14],"generated":[15],"a":[16,50,73,102,147,168],"need":[17],"for":[18,162],"road":[19,33,124,131],"environment":[20,36,118,125,151],"classification":[21,61,110,137,159,171],"-":[22,115],"i.e.,":[23],"the":[24,28,31,47,64,121,142,163],"ability":[25],"to":[26,106],"determine":[27],"nature":[29],"of":[30,49,56,66,92,112,127,149,156,173],"current":[32],"or":[34,59],"terrain":[35],"from":[37,72,89],"an":[38],"onboard":[39],"sensor.":[41],"In":[42],"this":[43,95],"paper,":[44],"we":[45],"investigate":[46],"use":[48],"low-cost":[51],"camera":[52,76,97],"vision":[53],"solution":[54],"capable":[55],"urban,":[57,129],"rural,":[58],"off-road":[60],"based":[62,81],"on":[63,82],"analysis":[65],"color":[67,83],"texture":[69,85],"features":[70],"extracted":[71,88],"driver's":[74],"perspective":[75],"view.":[77],"A":[78],"feature":[79],"set":[80],"distributions":[86],"is":[87,160],"multiple":[90],"regions":[91],"interest":[93],"forward-facing":[96],"view":[98],"combined":[100],"with":[101],"trained":[103],"classifier":[104],"approach":[105],"resolve":[107],"two":[108],"road-type":[109],"problems":[111],"varying":[113],"difficulty":[114],"{off-road,":[116,128,164],"on-road}":[117,165],"determination":[119],"additional":[122],"multiclass":[123],"problem":[126,166],"major/trunk":[130],"multilane":[133],"motorway/carriageway}.":[134],"Two":[135],"illustrative":[136],"approaches":[138],"are":[139,144],"investigated,":[140],"results":[143],"reported":[145],"over":[146],"series":[148],"real":[150],"data.":[152],"An":[153],"optimal":[154],"performance":[155],"~90%":[157],"correct":[158],"achieved":[161],"at":[167],"near":[169],"real-time":[170],"rate":[172],"1":[174],"Hz.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":14},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}