{"id":"https://openalex.org/W4390492431","doi":"https://doi.org/10.1109/tits.2023.3344799","title":"Slippage Estimation via Few-Shot Learning Based on Wheel-Ruts Images for Wheeled Robots on Loose Soil","display_name":"Slippage Estimation via Few-Shot Learning Based on Wheel-Ruts Images for Wheeled Robots on Loose Soil","publication_year":2024,"publication_date":"2024-01-02","ids":{"openalex":"https://openalex.org/W4390492431","doi":"https://doi.org/10.1109/tits.2023.3344799"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3344799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3344799","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/A5036631469","display_name":"Chao Chen","orcid":"https://orcid.org/0000-0003-0832-8046"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chao Chen","raw_affiliation_strings":["Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China"],"raw_orcid":"https://orcid.org/0000-0003-0832-8046","affiliations":[{"raw_affiliation_string":"Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I152269853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026395295","display_name":"Shibin Su","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111795","display_name":"Hisense (China)","ror":"https://ror.org/0276vcd78","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210111795"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shibin Su","raw_affiliation_strings":["Hisense TransTech Company Ltd., Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hisense TransTech Company Ltd., Qingdao, China","institution_ids":["https://openalex.org/I4210111795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044470103","display_name":"Minglei Shu","orcid":"https://orcid.org/0000-0002-7136-1538"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minglei Shu","raw_affiliation_strings":["Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-7136-1538","affiliations":[{"raw_affiliation_string":"Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I152269853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021381854","display_name":"Chong Di","orcid":"https://orcid.org/0000-0002-6008-1813"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chong Di","raw_affiliation_strings":["Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I152269853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100400676","display_name":"Weihua Li","orcid":"https://orcid.org/0000-0002-9745-4150"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihua Li","raw_affiliation_strings":["School of Automotive Engineering, Harbin Institute of Technology (Weihai), Weihai, China"],"raw_orcid":"https://orcid.org/0000-0002-9745-4150","affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Harbin Institute of Technology (Weihai), Weihai, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024098738","display_name":"Pengyao Xu","orcid":"https://orcid.org/0000-0002-8562-2065"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengyao Xu","raw_affiliation_strings":["Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I152269853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078963293","display_name":"Junlong Guo","orcid":"https://orcid.org/0000-0001-8846-5838"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junlong Guo","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-8846-5838","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014621529","display_name":"Ruotong Wang","orcid":"https://orcid.org/0000-0001-9758-7458"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruotong Wang","raw_affiliation_strings":["Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China"],"raw_orcid":"https://orcid.org/0000-0001-9758-7458","affiliations":[{"raw_affiliation_string":"Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I152269853"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100703791","display_name":"Yinglong Wang","orcid":"https://orcid.org/0000-0002-8350-7186"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinglong Wang","raw_affiliation_strings":["Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-8350-7186","affiliations":[{"raw_affiliation_string":"Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I152269853"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5036631469"],"corresponding_institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"],"apc_list":null,"apc_paid":null,"fwci":2.1427,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.87767334,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"25","issue":"7","first_page":"6555","last_page":"6566"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9726999998092651,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9726999998092651,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9704999923706055,"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/T12597","display_name":"Fire Detection and Safety Systems","score":0.9685999751091003,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/slippage","display_name":"Slippage","score":0.9378478527069092},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6047274470329285},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5918135643005371},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5862873792648315},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.579731285572052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5558091402053833},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5386554598808289},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.47633248567581177},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3483829200267792},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27249354124069214},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.09426897764205933}],"concepts":[{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.9378478527069092},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6047274470329285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5918135643005371},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5862873792648315},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.579731285572052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5558091402053833},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5386554598808289},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.47633248567581177},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3483829200267792},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27249354124069214},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.09426897764205933},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2023.3344799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3344799","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[{"id":"https://openalex.org/G4220185295","display_name":null,"funder_award_id":"52275012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5527028876","display_name":null,"funder_award_id":"52175007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7510882660","display_name":null,"funder_award_id":"52205020","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7615075851","display_name":null,"funder_award_id":"62206144","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W637153065","https://openalex.org/W1501856433","https://openalex.org/W1634772132","https://openalex.org/W1676487251","https://openalex.org/W1977714468","https://openalex.org/W1980262410","https://openalex.org/W1988435613","https://openalex.org/W2116341502","https://openalex.org/W2130132683","https://openalex.org/W2142781366","https://openalex.org/W2169589576","https://openalex.org/W2335739814","https://openalex.org/W2739138241","https://openalex.org/W2740827468","https://openalex.org/W2759943497","https://openalex.org/W2795654616","https://openalex.org/W2901504064","https://openalex.org/W2903976622","https://openalex.org/W2911788719","https://openalex.org/W2914653080","https://openalex.org/W2943605315","https://openalex.org/W2945827377","https://openalex.org/W2951866916","https://openalex.org/W2996451395","https://openalex.org/W3006563597","https://openalex.org/W3025046640","https://openalex.org/W3033721936","https://openalex.org/W3034453888","https://openalex.org/W3034637015","https://openalex.org/W3034942609","https://openalex.org/W3040678560","https://openalex.org/W3044924753","https://openalex.org/W3101553402","https://openalex.org/W3119843655","https://openalex.org/W3136283225","https://openalex.org/W3167362483","https://openalex.org/W3184258555","https://openalex.org/W3191182849","https://openalex.org/W3197005357","https://openalex.org/W4214842573","https://openalex.org/W4312935555","https://openalex.org/W6620673361","https://openalex.org/W6637178625","https://openalex.org/W6690815549","https://openalex.org/W6713411898","https://openalex.org/W6720006811","https://openalex.org/W6726873649","https://openalex.org/W6746260573","https://openalex.org/W6755766585"],"related_works":["https://openalex.org/W2917225013","https://openalex.org/W845789065","https://openalex.org/W2039606477","https://openalex.org/W2361542615","https://openalex.org/W585312555","https://openalex.org/W2055370323","https://openalex.org/W2052447287","https://openalex.org/W4242718759","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"When":[0],"a":[1,87],"wheeled":[2],"mobile":[3],"robot":[4],"(WMR)":[5],"runs":[6],"on":[7,15,58],"loose":[8],"soil":[9],"(such":[10],"as":[11],"the":[12,18,27,30,34,45,65,74,79,117,122,129,140,151,154],"planetary":[13],"rover":[14],"surface":[16],"of":[17,29,67,73,125,143,153],"planet),":[19],"its":[20],"wheels":[21],"generally":[22],"slip":[23],"or":[24],"skip.":[25],"Since":[26,78],"slippage":[28,52,158],"wheel":[31],"directly":[32],"affects":[33],"motion":[35],"control":[36],"and":[37,70,120],"safety,":[38],"it":[39],"becomes":[40],"urgent":[41],"to":[42,63,85,115],"effectively":[43],"estimate":[44],"slippage.":[46],"In":[47],"this":[48],"paper,":[49],"an":[50],"intuitive":[51],"estimation":[53],"method":[54,90],"is":[55,91,110,137],"proposed":[56,135,155],"based":[57],"wheel-ruts":[59],"images,":[60],"which":[61,127,149],"aims":[62],"reduce":[64],"number":[66],"extra":[68],"sensors":[69],"take":[71],"advantages":[72],"visual":[75],"information":[76,124],"effectively.":[77],"image":[80],"samples":[81],"sometimes":[82],"are":[83],"difficult":[84],"collect,":[86],"few-shot":[88],"learning":[89],"employed":[92],"using":[93],"distribution":[94],"propagation":[95],"graph":[96],"network":[97],"with":[98],"dilated":[99,105],"causal":[100,106],"convolution":[101,107],"layer":[102,109],"(DCC-DPGN).":[103],"The":[104,134],"(DCC)":[108],"adopted":[111],"in":[112,139,146,157],"ResNet":[113],"block":[114],"expand":[116],"receptive":[118],"field":[119],"obtain":[121],"sequence":[123],"wheel-ruts,":[126],"makes":[128],"model":[130,136],"training":[131],"more":[132],"efficient.":[133],"verified":[138],"test":[141],"set":[142],"images":[144],"collected":[145],"real":[147],"scene,":[148],"shows":[150],"potential":[152],"algorithm":[156],"estimation.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}