{"id":"https://openalex.org/W4200502426","doi":"https://doi.org/10.1109/tnnls.2021.3131206","title":"A Kernel-Based Multi-Featured Rock Modeling and Detection Framework for a Mars Rover","display_name":"A Kernel-Based Multi-Featured Rock Modeling and Detection Framework for a Mars Rover","publication_year":2021,"publication_date":"2021-12-10","ids":{"openalex":"https://openalex.org/W4200502426","doi":"https://doi.org/10.1109/tnnls.2021.3131206","pmid":"https://pubmed.ncbi.nlm.nih.gov/34890338"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2021.3131206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2021.3131206","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5060175693","display_name":"Xueming Xiao","orcid":"https://orcid.org/0000-0001-6511-0524"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueming Xiao","raw_affiliation_strings":["CVIR Lab, Changchun University of Science and Technology, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0001-6511-0524","affiliations":[{"raw_affiliation_string":"CVIR Lab, Changchun University of Science and Technology, Changchun, China","institution_ids":["https://openalex.org/I106645853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063033361","display_name":"Meibao Yao","orcid":"https://orcid.org/0000-0002-7069-6782"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meibao Yao","raw_affiliation_strings":["School of Artificial Intelligence, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0002-7069-6782","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101559419","display_name":"Haiqiang Liu","orcid":"https://orcid.org/0000-0002-6777-2828"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiqiang Liu","raw_affiliation_strings":["School of Artificial Intelligence, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0002-6777-2828","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074012388","display_name":"Jiake Wang","orcid":"https://orcid.org/0000-0002-2625-4311"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiake Wang","raw_affiliation_strings":["Key Laboratory of Opto-electronic Measurement and Optical Information Transmission Technology, Ministry of Education, Changchun University of Science and Technology, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Opto-electronic Measurement and Optical Information Transmission Technology, Ministry of Education, Changchun University of Science and Technology, Changchun, China","institution_ids":["https://openalex.org/I106645853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037321359","display_name":"Lei Zhang","orcid":"https://orcid.org/0000-0001-7562-9354"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhang","raw_affiliation_strings":["Key Laboratory of Opto-electronic Measurement and Optical Information Transmission Technology, Ministry of Education, Changchun University of Science and Technology, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Opto-electronic Measurement and Optical Information Transmission Technology, Ministry of Education, Changchun University of Science and Technology, Changchun, China","institution_ids":["https://openalex.org/I106645853"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074324543","display_name":"Yuegang Fu","orcid":"https://orcid.org/0000-0003-0601-6516"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuegang Fu","raw_affiliation_strings":["Key Laboratory of Opto-electronic Measurement and Optical Information Transmission Technology, Ministry of Education, Changchun University of Science and Technology, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-0601-6516","affiliations":[{"raw_affiliation_string":"Key Laboratory of Opto-electronic Measurement and Optical Information Transmission Technology, Ministry of Education, Changchun University of Science and Technology, Changchun, China","institution_ids":["https://openalex.org/I106645853"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":24.666,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.99066131,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"34","issue":"7","first_page":"3335","last_page":"3344"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9972000122070312,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9898999929428101,"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/mars-rover","display_name":"Mars rover","score":0.6683847308158875},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.6506547927856445},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.6420658826828003},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6144287586212158},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5910062789916992},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5005555152893066},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4953652620315552},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.47483664751052856},{"id":"https://openalex.org/keywords/martian","display_name":"Martian","score":0.44000253081321716},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.40731382369995117},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4052269160747528},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34612053632736206},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07570922374725342},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.06918680667877197}],"concepts":[{"id":"https://openalex.org/C2781266219","wikidata":"https://www.wikidata.org/wiki/Q389459","display_name":"Mars rover","level":3,"score":0.6683847308158875},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.6506547927856445},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.6420658826828003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6144287586212158},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5910062789916992},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5005555152893066},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4953652620315552},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.47483664751052856},{"id":"https://openalex.org/C2778600265","wikidata":"https://www.wikidata.org/wiki/Q913850","display_name":"Martian","level":3,"score":0.44000253081321716},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.40731382369995117},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4052269160747528},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34612053632736206},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07570922374725342},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.06918680667877197},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D005118","descriptor_name":"Extraterrestrial Environment","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005118","descriptor_name":"Extraterrestrial Environment","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005118","descriptor_name":"Extraterrestrial Environment","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018535","descriptor_name":"Mars","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D018535","descriptor_name":"Mars","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D018535","descriptor_name":"Mars","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2021.3131206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2021.3131206","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:34890338","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34890338","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G1960080006","display_name":null,"funder_award_id":"62003055","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3405425582","display_name":null,"funder_award_id":"62103163","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G389215297","display_name":null,"funder_award_id":"20190302098G","funder_id":"https://openalex.org/F4320327282","funder_display_name":"Department of Science and Technology of Jilin Province"},{"id":"https://openalex.org/G5945825186","display_name":null,"funder_award_id":"JJKH20210813KJ","funder_id":"https://openalex.org/F4320327282","funder_display_name":"Department of Science and Technology of Jilin Province"},{"id":"https://openalex.org/G685299433","display_name":null,"funder_award_id":"201905020004","funder_id":"https://openalex.org/F4320327292","funder_display_name":"Changchun University of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327282","display_name":"Department of Science and Technology of Jilin Province","ror":null},{"id":"https://openalex.org/F4320327292","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1490478136","https://openalex.org/W1555668528","https://openalex.org/W1868666719","https://openalex.org/W1972373069","https://openalex.org/W1977610631","https://openalex.org/W1994745532","https://openalex.org/W1994922096","https://openalex.org/W1997282448","https://openalex.org/W2035128422","https://openalex.org/W2054689585","https://openalex.org/W2062229365","https://openalex.org/W2065137248","https://openalex.org/W2073624418","https://openalex.org/W2078896910","https://openalex.org/W2100470808","https://openalex.org/W2103914106","https://openalex.org/W2108119513","https://openalex.org/W2115706991","https://openalex.org/W2118246710","https://openalex.org/W2128874600","https://openalex.org/W2133059825","https://openalex.org/W2137504970","https://openalex.org/W2223445409","https://openalex.org/W2243430285","https://openalex.org/W2294479402","https://openalex.org/W2314261068","https://openalex.org/W2320818311","https://openalex.org/W2327059121","https://openalex.org/W2346506533","https://openalex.org/W2410894298","https://openalex.org/W2613861547","https://openalex.org/W2792008101","https://openalex.org/W2888554094","https://openalex.org/W2896372254","https://openalex.org/W2909594940","https://openalex.org/W2935279002","https://openalex.org/W2949884076","https://openalex.org/W2951085447","https://openalex.org/W2963868681","https://openalex.org/W6633295154","https://openalex.org/W6675164516","https://openalex.org/W6680096826"],"related_works":["https://openalex.org/W2188776111","https://openalex.org/W2040110504","https://openalex.org/W2065893207","https://openalex.org/W3149160274","https://openalex.org/W2007080654","https://openalex.org/W3094705525","https://openalex.org/W4381951771","https://openalex.org/W4400289874","https://openalex.org/W1638441629","https://openalex.org/W1599367420"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"two":[3,71],"kernel-based":[4],"rock":[5,66,79,87,125,144],"detection":[6,13,50,67,72,80,88,107,126],"methods":[7,156],"for":[8,20],"a":[9,64,141],"Mars":[10],"rover.":[11],"Rock":[12],"on":[14,100,116],"planetary":[15,21],"surfaces":[16],"is":[17,98,103,114],"particularly":[18],"pivotal":[19],"vehicles":[22],"regarding":[23],"navigation":[24],"and":[25,40,55,59,69,82,94,102,167,171],"obstacle":[26],"avoidance.":[27],"However,":[28],"the":[29,35,133,136],"diverse":[30],"morphologies":[31],"of":[32,37,92,135],"Martian":[33,143],"rocks,":[34,165],"sparsity":[36],"pixel-wise":[38,48],"features,":[39],"engineering":[41],"constraints":[42],"are":[43,157,173],"great":[44],"challenges":[45],"to":[46],"current":[47],"object":[49,57],"methods,":[51,138],"resulting":[52],"in":[53,105,159],"inaccurate":[54],"delayed":[56],"location":[58],"recognition.":[60],"We":[61],"therefore":[62],"propose":[63],"region-wise":[65],"framework":[68],"design":[70],"algorithms,":[73],"kernel":[74,83],"principle":[75],"component":[76],"analysis":[77],"(KPCA)-based":[78],"(KPRD)":[81],"low-rank":[84],"representation":[85],"(KLRR)-based":[86],"(KLRD),":[89],"using":[90],"hypotheses":[91],"feature":[93],"sub-spatial":[95],"separability.":[96],"KPRD":[97,117],"based":[99,115],"KPCA":[101],"expert":[104],"real-time":[106],"yet":[108],"with":[109,118,128,161],"less":[110,129],"accurate":[111],"performance.":[112],"KLRD":[113],"KLRR":[119],"which":[120],"can":[121],"generate":[122],"more":[123],"precise":[124],"results":[127,152],"delay.":[130],"To":[131],"validate":[132],"efficiency":[134],"proposed":[137],"we":[139],"build":[140],"small-scale":[142],"dataset,":[145],"MarsData,":[146],"containing":[147,164],"various":[148],"rocks.":[149],"Preliminary":[150],"experimental":[151],"show":[153],"that":[154],"our":[155],"efficient":[158],"dealing":[160],"complex":[162],"images":[163],"shadows,":[166],"gravel.":[168],"The":[169],"code":[170],"data":[172],"available":[174],"at:":[175],"https://github.com/CVIR-Lab/MarsData.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
