{"id":"https://openalex.org/W4317419033","doi":"https://doi.org/10.1109/vtc2022-fall57202.2022.10012877","title":"Autonomous Navigation for Mobile Robots with Weakly-Supervised Segmentation Network","display_name":"Autonomous Navigation for Mobile Robots with Weakly-Supervised Segmentation Network","publication_year":2022,"publication_date":"2022-09-01","ids":{"openalex":"https://openalex.org/W4317419033","doi":"https://doi.org/10.1109/vtc2022-fall57202.2022.10012877"},"language":"en","primary_location":{"id":"doi:10.1109/vtc2022-fall57202.2022.10012877","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/vtc2022-fall57202.2022.10012877","pdf_url":null,"source":{"id":"https://openalex.org/S4363607792","display_name":"2022 IEEE 96th Vehicular Technology Conference (VTC2022-Fall)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 96th Vehicular Technology Conference (VTC2022-Fall)","raw_type":"proceedings-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/A5020443462","display_name":"Peinan Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peinan Huang","raw_affiliation_strings":["Shanghai Jiao Tong University,Key Laboratory of System Control and Information Processing, Ministry of Education of China,Dept. of Automation,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Key Laboratory of System Control and Information Processing, Ministry of Education of China,Dept. of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100679356","display_name":"Jialun Li","orcid":"https://orcid.org/0000-0001-7982-4325"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jialun Li","raw_affiliation_strings":["Shanghai Jiao Tong University,Key Laboratory of System Control and Information Processing, Ministry of Education of China,Dept. of Automation,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Key Laboratory of System Control and Information Processing, Ministry of Education of China,Dept. of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004668792","display_name":"Jianping He","orcid":"https://orcid.org/0000-0002-6253-7802"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianping He","raw_affiliation_strings":["Shanghai Jiao Tong University,Key Laboratory of System Control and Information Processing, Ministry of Education of China,Dept. of Automation,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Key Laboratory of System Control and Information Processing, Ministry of Education of China,Dept. of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020443462"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28423957,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9986000061035156,"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":0.8006557822227478},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7366913557052612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.685756266117096},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6197048425674438},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5503737330436707},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5451599359512329},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.524055004119873},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.508073091506958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48219791054725647},{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.4400840699672699},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.43595874309539795}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8006557822227478},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7366913557052612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.685756266117096},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6197048425674438},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5503737330436707},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5451599359512329},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.524055004119873},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.508073091506958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48219791054725647},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.4400840699672699},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.43595874309539795},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/vtc2022-fall57202.2022.10012877","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/vtc2022-fall57202.2022.10012877","pdf_url":null,"source":{"id":"https://openalex.org/S4363607792","display_name":"2022 IEEE 96th Vehicular Technology Conference (VTC2022-Fall)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 96th Vehicular Technology Conference (VTC2022-Fall)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1674276221","https://openalex.org/W1966931935","https://openalex.org/W2054969198","https://openalex.org/W2121926901","https://openalex.org/W2336416123","https://openalex.org/W2343568200","https://openalex.org/W2524507886","https://openalex.org/W2560023338","https://openalex.org/W2768317343","https://openalex.org/W2769646558","https://openalex.org/W2769926989","https://openalex.org/W2770233088","https://openalex.org/W2783963507","https://openalex.org/W2948515602","https://openalex.org/W2962689474","https://openalex.org/W2963424321","https://openalex.org/W2966865642","https://openalex.org/W3031007519","https://openalex.org/W3101798601","https://openalex.org/W3102343027","https://openalex.org/W3114460273","https://openalex.org/W3118675683"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344","https://openalex.org/W4292862729","https://openalex.org/W2170661558"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"autonomous":[3],"navigation":[4,163],"for":[5,43,52],"mobile":[6],"robots":[7],"with":[8,128],"a":[9,62,67,93,110],"low-cost":[10],"monocular":[11,31,63],"camera.":[12],"The":[13],"main":[14],"challenge":[15],"lies":[16],"in:":[17],"i)":[18],"how":[19,38],"to":[20,39,46,87,116],"accurately":[21,56],"detect":[22],"prior":[23],"unseen":[24],"obstacles":[25,28,59],"and":[26,36,49,76,103,123,148,159],"acquire":[27],"position":[29],"from":[30,73],"images":[32],"without":[33],"depth":[34],"information,":[35],"ii)":[37],"get":[40,117],"the":[41,53,99,133,141,149],"constraints":[42,119],"path":[44,51,106,127],"planning":[45,114],"generate":[47,124],"safe":[48],"stable":[50,125],"robot.":[54],"To":[55],"locate":[57],"surrounding":[58],"using":[60],"only":[61],"camera,":[64],"we":[65,91,108],"adopt":[66],"weakly-supervised":[68],"semantic":[69],"segmentation":[70,89,135],"network":[71],"trained":[72],"LIDAR":[74],"data":[75],"perform":[77],"inverse":[78],"perspective":[79],"transformation":[80],"based":[81,97,113],"on":[82,98],"ground":[83],"plane":[84],"constraint.":[85],"Meanwhile,":[86],"reduce":[88],"noise,":[90],"establish":[92],"probability":[94],"occupancy":[95],"map":[96],"distance":[100],"between":[101],"robot":[102],"obstacles.":[104],"For":[105],"generations,":[107],"present":[109],"novel":[111],"search-and-optimization":[112],"approach":[115],"boundary":[118],"in":[120],"Frenet":[121],"frame":[122],"local":[126],"consecutive":[129],"image":[130],"inputs.":[131],"In":[132],"simulation,":[134],"Intersection":[136],"over":[137],"Union":[138],"(IoU)":[139],"of":[140,161],"drivable":[142],"area":[143],"achieves":[144],"more":[145],"than":[146,155],"99%":[147],"average":[150],"mapping":[151],"accuracy":[152],"is":[153],"less":[154],"10cm,":[156],"showing":[157],"feasibility":[158],"robustness":[160],"our":[162],"scheme.":[164]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}