{"id":"https://openalex.org/W2992372985","doi":"https://doi.org/10.1109/tits.2019.2955598","title":"Fast Depth Prediction and Obstacle Avoidance on a Monocular Drone Using Probabilistic Convolutional Neural Network","display_name":"Fast Depth Prediction and Obstacle Avoidance on a Monocular Drone Using Probabilistic Convolutional Neural Network","publication_year":2019,"publication_date":"2019-12-05","ids":{"openalex":"https://openalex.org/W2992372985","doi":"https://doi.org/10.1109/tits.2019.2955598","mag":"2992372985"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2019.2955598","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2019.2955598","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088751649","display_name":"Xin Yang","orcid":"https://orcid.org/0000-0001-6252-1061"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Yang","raw_affiliation_strings":["School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-6252-1061","affiliations":[{"raw_affiliation_string":"School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100338190","display_name":"Jingyu Chen","orcid":"https://orcid.org/0000-0002-1371-5406"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyu Chen","raw_affiliation_strings":["School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053561781","display_name":"Yuanjie Dang","orcid":"https://orcid.org/0000-0002-8302-1338"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanjie Dang","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8302-1338","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101871631","display_name":"Hongcheng Luo","orcid":"https://orcid.org/0000-0002-0058-3571"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongcheng Luo","raw_affiliation_strings":["School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-0058-3571","affiliations":[{"raw_affiliation_string":"School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102246561","display_name":"Yuesheng Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuesheng Tang","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054649167","display_name":"Chunyuan Liao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chunyuan Liao","raw_affiliation_strings":["HiScene Information Technology Company, Ltd., Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HiScene Information Technology Company, Ltd., Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100659434","display_name":"Peng Chen","orcid":"https://orcid.org/0000-0001-6122-0574"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Chen","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6122-0574","affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077687075","display_name":"Kwang\u2010Ting Cheng","orcid":"https://orcid.org/0000-0002-3885-4912"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kwang-Ting Cheng","raw_affiliation_strings":["School of Engineering, The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-3885-4912","affiliations":[{"raw_affiliation_string":"School of Engineering, The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6798,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.92526904,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"22","issue":"1","first_page":"156","last_page":"167"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9975000023841858,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.749912440776825},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7273648381233215},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7064884901046753},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.692813515663147},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6266466379165649},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.552872359752655},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5371826887130737},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5184540152549744},{"id":"https://openalex.org/keywords/depth-map","display_name":"Depth map","score":0.4793703854084015},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4426233172416687},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4388633966445923},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3683755397796631},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1935180127620697},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17001435160636902},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.15092730522155762}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.749912440776825},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7273648381233215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7064884901046753},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.692813515663147},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6266466379165649},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.552872359752655},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5371826887130737},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5184540152549744},{"id":"https://openalex.org/C141268832","wikidata":"https://www.wikidata.org/wiki/Q2940499","display_name":"Depth map","level":3,"score":0.4793703854084015},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4426233172416687},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4388633966445923},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3683755397796631},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1935180127620697},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17001435160636902},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.15092730522155762},{"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":3,"locations":[{"id":"doi:10.1109/tits.2019.2955598","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2019.2955598","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:repository.hkust.edu.hk:1783.1-101884","is_oa":false,"landing_page_url":"http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=LinksAMR&SrcApp=PARTNER_APP&DestLinkType=FullRecord&DestApp=WOS&KeyUT=000603489200012","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:repository.ust.hk:1783.1-101884","is_oa":false,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-101884","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8799999952316284}],"awards":[{"id":"https://openalex.org/G1830739424","display_name":null,"funder_award_id":"2019kfyRCPY118","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4991219617","display_name":"\u57fa\u4e8e\u591a\u53c2\u6570\u6838\u78c1\u7684\u524d\u5217\u817a\u764c\u81ea\u52a8\u68c0\u6d4b\u4e0e\u8bca\u65ad\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61872417","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8319269448","display_name":null,"funder_award_id":"ZRMS2017000375","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322186","display_name":"Natural Science Foundation of Hubei Province","ror":null},{"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":47,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W1578294898","https://openalex.org/W1590235109","https://openalex.org/W1612997784","https://openalex.org/W1905829557","https://openalex.org/W1915250530","https://openalex.org/W1970504153","https://openalex.org/W1991544872","https://openalex.org/W2002827166","https://openalex.org/W2007963058","https://openalex.org/W2085261163","https://openalex.org/W2115579991","https://openalex.org/W2125416623","https://openalex.org/W2132400125","https://openalex.org/W2138805713","https://openalex.org/W2171740948","https://openalex.org/W2194775991","https://openalex.org/W2209124607","https://openalex.org/W2300779272","https://openalex.org/W2397830550","https://openalex.org/W2402144811","https://openalex.org/W2520707372","https://openalex.org/W2593414960","https://openalex.org/W2600383743","https://openalex.org/W2606794968","https://openalex.org/W2608112326","https://openalex.org/W2757143157","https://openalex.org/W2885010430","https://openalex.org/W2896920009","https://openalex.org/W2938300642","https://openalex.org/W2951234442","https://openalex.org/W2953384591","https://openalex.org/W2962879692","https://openalex.org/W2963591054","https://openalex.org/W2963684088","https://openalex.org/W3021282624","https://openalex.org/W3103648783","https://openalex.org/W4295521014","https://openalex.org/W6685261749","https://openalex.org/W6685352114","https://openalex.org/W6697658144","https://openalex.org/W6712616374","https://openalex.org/W6713134421","https://openalex.org/W6735443497","https://openalex.org/W6735913928","https://openalex.org/W6744702893","https://openalex.org/W6779669310"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4247925126","https://openalex.org/W4312858960","https://openalex.org/W4307623796","https://openalex.org/W3210711677","https://openalex.org/W4200218943","https://openalex.org/W3111845905","https://openalex.org/W3010374521"],"abstract_inverted_index":{"Recent":[0],"studies":[1],"employ":[2],"advanced":[3],"deep":[4],"convolutional":[5],"neural":[6],"networks":[7],"(CNNs)":[8],"for":[9,29,93,110,154,203],"monocular":[10,94],"depth":[11,42,80,95,127,145,157,163,188,217,242],"perception,":[12],"which":[13,35,106,199,231],"can":[14,36,123],"hardly":[15],"run":[16],"efficiently":[17,39,124],"on":[18,23,198,211,225],"small":[19],"drones":[20],"that":[21,215],"rely":[22],"low/middle-grade":[24],"GPU(e.g.":[25],"TX2":[26,226],"and":[27,38,97,129,158,181,223,227,239,255],"1050Ti)":[28],"computation.":[30],"In":[31],"addition,":[32],"the":[33,130,152,182,186,204,236,260,266],"methods":[34,238],"effectively":[37],"produce":[40],"probabilistic":[41,103],"prediction":[43,96,218],"with":[44,77,100],"a":[45,59,72,75,78,82,89,101,113,148,179],"measure":[46],"of":[47,57,135,178,249,262],"model":[48],"confidence":[49,159,183],"have":[50],"not":[51],"been":[52],"well":[53],"studied.":[54],"The":[55,133,161],"lack":[56],"such":[58],"method":[60,219,264],"could":[61],"yield":[62],"erroneous,":[63],"sometimes":[64],"fatal,":[65],"decisions":[66],"in":[67,74,112,195,252],"drone":[68,180,205],"applications":[69],"(e.g.":[70],"selecting":[71],"waypoint":[73],"region":[76],"large":[79],"yet":[81],"low":[83],"estimation":[84,146,243],"confidence).":[85],"This":[86],"paper":[87],"presents":[88],"real-time":[90],"onboard":[91],"approach":[92],"obstacle":[98,250],"avoidance":[99,251],"lightweight":[102,114,137],"CNN":[104],"(pCNN),":[105],"will":[107],"be":[108],"ideal":[109],"use":[111],"energy-efficient":[115],"drone.":[116],"For":[117],"each":[118],"video":[119],"frame,":[120],"our":[121,136,216,263],"pCNN":[122,138],"predict":[125],"its":[126],"map":[128,164],"corresponding":[131],"confidence.":[132],"accuracy":[134],"is":[139,165,232],"greatly":[140],"boosted":[141],"by":[142,172],"integrating":[143],"sparse":[144],"from":[147],"visual":[149],"odometry":[150],"into":[151,167,185],"network":[153],"guiding":[155],"dense":[156],"inference.":[160],"estimated":[162],"transformed":[166],"Ego":[168],"Dynamic":[169],"Space":[170],"(EDS)":[171],"embedding":[173],"both":[174,253],"dynamic":[175],"motion":[176],"constraints":[177],"values":[184],"spatial":[187],"map.":[189],"Traversable":[190],"waypoints":[191],"are":[192,206],"automatically":[193],"computed":[194],"EDS":[196],"based":[197],"appropriate":[200],"control":[201],"inputs":[202],"produced.":[207],"Extensive":[208],"experimental":[209],"results":[210],"public":[212],"datasets":[213],"demonstrate":[214,259],"runs":[220],"at":[221],"12Hz":[222],"45Hz":[224],"1050Ti":[228],"GPU":[229],"respectively,":[230],"1.8X~5.6X":[233],"faster":[234],"than":[235],"state-of-the-art":[237],"achieves":[240],"better":[241],"accuracy.":[244],"We":[245],"also":[246],"conducted":[247],"experiments":[248],"simulated":[254],"real":[256],"environments":[257],"to":[258,265],"superiority":[261],"baseline":[267],"methods.":[268]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}