{"id":"https://openalex.org/W4406047156","doi":"https://doi.org/10.1109/tits.2024.3509140","title":"Evidence-Based Real-Time Road Segmentation With RGB-D Data Augmentation","display_name":"Evidence-Based Real-Time Road Segmentation With RGB-D Data Augmentation","publication_year":2025,"publication_date":"2025-01-03","ids":{"openalex":"https://openalex.org/W4406047156","doi":"https://doi.org/10.1109/tits.2024.3509140"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3509140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3509140","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/A5058354365","display_name":"Feng Xue","orcid":"https://orcid.org/0000-0002-4101-3401"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]},{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["CN","IT"],"is_corresponding":true,"raw_author_name":"Feng Xue","raw_affiliation_strings":["School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China","Department of Information Engineering and Computer Science, University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066664267","display_name":"Yicong Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yicong Chang","raw_affiliation_strings":["School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108991336","display_name":"Wenzhuang Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzhuang Xu","raw_affiliation_strings":["School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064811423","display_name":"Wenteng Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]},{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenteng Liang","raw_affiliation_strings":["School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China","Tencent Technologies, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"Tencent Technologies, Beijing, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022406918","display_name":"Fei Sheng","orcid":"https://orcid.org/0000-0002-9358-9218"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Sheng","raw_affiliation_strings":["School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China","HuaAn Securities Company Ltd, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"HuaAn Securities Company Ltd, Hefei, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082092902","display_name":"Anlong Ming","orcid":"https://orcid.org/0000-0003-2952-7757"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anlong Ming","raw_affiliation_strings":["School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5058354365"],"corresponding_institution_ids":["https://openalex.org/I139759216","https://openalex.org/I193223587"],"apc_list":null,"apc_paid":null,"fwci":7.4517,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.9674803,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"26","issue":"2","first_page":"1482","last_page":"1493"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13282","display_name":"Automated Road and Building Extraction","score":0.9962000250816345,"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"}},"topics":[{"id":"https://openalex.org/T13282","display_name":"Automated Road and Building Extraction","score":0.9962000250816345,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9925000071525574,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9915000200271606,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5905389189720154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5898326635360718},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5827097296714783},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5791208148002625},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3294757902622223}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5905389189720154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5898326635360718},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5827097296714783},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5791208148002625},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3294757902622223}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3509140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3509140","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":[{"id":"https://metadata.un.org/sdg/11","score":0.5600000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W33116912","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W2033819227","https://openalex.org/W2167222293","https://openalex.org/W2194775991","https://openalex.org/W2340897893","https://openalex.org/W2413473068","https://openalex.org/W2505004417","https://openalex.org/W2562137921","https://openalex.org/W2587989515","https://openalex.org/W2736675202","https://openalex.org/W2765382011","https://openalex.org/W2765407302","https://openalex.org/W2789936010","https://openalex.org/W2891529090","https://openalex.org/W2900595477","https://openalex.org/W2904900506","https://openalex.org/W2932012013","https://openalex.org/W2949736877","https://openalex.org/W2963163009","https://openalex.org/W2963324806","https://openalex.org/W2963420686","https://openalex.org/W2963881378","https://openalex.org/W2966373160","https://openalex.org/W2968833072","https://openalex.org/W2971014764","https://openalex.org/W2992308087","https://openalex.org/W2995118031","https://openalex.org/W3010452014","https://openalex.org/W3011075597","https://openalex.org/W3042173136","https://openalex.org/W3080961686","https://openalex.org/W3081055539","https://openalex.org/W3090787154","https://openalex.org/W3108601100","https://openalex.org/W3134257222","https://openalex.org/W3190666950","https://openalex.org/W3201203332","https://openalex.org/W3207814250","https://openalex.org/W3215565096","https://openalex.org/W4206989765","https://openalex.org/W4221148818","https://openalex.org/W4283327872","https://openalex.org/W4287890966","https://openalex.org/W4312388311","https://openalex.org/W4313140690","https://openalex.org/W4386076027","https://openalex.org/W4387607657","https://openalex.org/W4387804030","https://openalex.org/W6728622933","https://openalex.org/W6745553787","https://openalex.org/W6745891213","https://openalex.org/W6752745768","https://openalex.org/W6755837410","https://openalex.org/W6788887552","https://openalex.org/W6797399245"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Despite":[0],"significant":[1],"progress":[2],"in":[3,8,48,109,250],"RGB-D":[4,59,153,216],"based":[5,60,112],"road":[6,49,61,73,118,133,159],"segmentation":[7,62],"recent":[9],"years,":[10],"the":[11,24,78,97,103,117,132,136,163,180,183,189],"latest":[12],"methods":[13,63],"cannot":[14],"achieve":[15],"both":[16,141],"state-of-the-art":[17,200],"accuracy":[18,201],"and":[19,45,122,130,168,194],"real":[20],"time":[21],"due":[22,36],"to":[23,37,54,158,161,179],"high-performance":[25],"reliance":[26,34],"on":[27,81,188,228],"heavy":[28],"structures.":[29],"We":[30],"argue":[31],"that":[32,222],"this":[33],"is":[35,186],"unsuitable":[38],"multimodal":[39,111],"fusion.":[40],"To":[41],"be":[42,226,248],"specific,":[43],"RGB":[44,121,167],"depth":[46,123,169],"data":[47,154],"scenes":[50,160],"are":[51],"each":[52],"sensitive":[53,68,177],"different":[55],"regions,":[56],"but":[57],"current":[58],"generally":[64],"combine":[65],"features":[66],"within":[67],"regions":[69,178],"which":[70,92],"preserves":[71],"false":[72],"representation":[74,134],"from":[75,120],"one":[76],"of":[77,96,135,147,166,236],"data.":[79,170],"Based":[80],"such":[82],"findings,":[83],"we":[84,101,115,150],"design":[85],"an":[86,152],"Evidence-based":[87],"Road":[88],"Segmentation":[89],"Method":[90],"(Evi-RoadSeg),":[91],"incorporates":[93],"prior":[94],"knowledge":[95],"modal-specific":[98],"characteristics.":[99],"Firstly,":[100],"abandon":[102],"cross-modal":[104],"fusion":[105],"operation":[106],"commonly":[107],"used":[108,191],"existing":[110],"methods.":[113,217],"Instead,":[114],"collect":[116],"evidence":[119,143],"inputs":[124],"separately":[125],"via":[126],"two":[127,137],"low-latency":[128],"subnetworks,":[129],"fuse":[131],"subnetworks":[138],"by":[139,174],"taking":[140],"modalities\u2019":[142],"as":[144],"a":[145,229,234],"measure":[146],"confidence.":[148],"Secondly,":[149],"propose":[151],"augmentation":[155],"scheme":[156],"tailored":[157],"enhance":[162],"unique":[164],"properties":[165],"It":[171],"facilitates":[172],"learning":[173],"adding":[175],"more":[176],"samples.":[181],"Finally,":[182],"proposed":[184],"method":[185,198,224],"evaluated":[187],"widely":[190],"KITTI-road,":[192],"ORFD,":[193],"R2D":[195],"datasets.":[196],"Our":[197],"achieves":[199],"at":[202],"over":[203],"70":[204],"FPS,":[205],"5":[206],"<inline-formula":[207,238],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[208,239],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[209,240],"<tex-math":[210,241],"notation=\"LaTeX\">$\\times$</tex-math>":[211],"</inline-formula>":[212,243],"faster":[213],"than":[214],"comparable":[215],"Furthermore,":[218],"extensive":[219],"experiments":[220],"illustrate":[221],"our":[223],"can":[225],"deployed":[227],"Jetson":[230],"Nano":[231],"2GB":[232],"with":[233],"speed":[235],"8":[237],"notation=\"LaTeX\">$+$</tex-math>":[242],"FPS.":[244],"The":[245],"code":[246],"will":[247],"released":[249],"https://github.com/xuefeng-cvr/Evi-RoadSeg.":[251]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}