{"id":"https://openalex.org/W4387914150","doi":"https://doi.org/10.1109/codit58514.2023.10284509","title":"CloverNet: A Real-Time Network for Semantic Segmentation Onboard Edge Devices Towards Planetary Exploration","display_name":"CloverNet: A Real-Time Network for Semantic Segmentation Onboard Edge Devices Towards Planetary Exploration","publication_year":2023,"publication_date":"2023-07-03","ids":{"openalex":"https://openalex.org/W4387914150","doi":"https://doi.org/10.1109/codit58514.2023.10284509"},"language":"en","primary_location":{"id":"doi:10.1109/codit58514.2023.10284509","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/codit58514.2023.10284509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","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/A5087030185","display_name":"D. Gasperini","orcid":"https://orcid.org/0009-0003-1384-1829"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Damiano Gasperini","raw_affiliation_strings":["Sapienza, University of Rome,Department of Computer, Control and Management Engineering (DIAG),Italy","Department of Computer, Control and Management Engineering (DIAG), Sapienza, University of Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Sapienza, University of Rome,Department of Computer, Control and Management Engineering (DIAG),Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Department of Computer, Control and Management Engineering (DIAG), Sapienza, University of Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054835867","display_name":"Watcharawut Masawat","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Watcharawut Masawat","raw_affiliation_strings":["Tohoku University,Department of Aerospace Engineering,Sendai,Japan","Department of Aerospace Engineering, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Department of Aerospace Engineering,Sendai,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Aerospace Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010667906","display_name":"Shreya Santra","orcid":"https://orcid.org/0000-0002-5833-456X"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shreya Santra","raw_affiliation_strings":["Tohoku University,Department of Aerospace Engineering,Sendai,Japan","Department of Aerospace Engineering, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Department of Aerospace Engineering,Sendai,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Aerospace Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023419492","display_name":"Kazuya Yoshida","orcid":"https://orcid.org/0000-0003-3889-5877"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Yoshida","raw_affiliation_strings":["Tohoku University,Department of Aerospace Engineering,Sendai,Japan","Department of Aerospace Engineering, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Department of Aerospace Engineering,Sendai,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Aerospace Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087030185"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":0.123,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4285222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"333","last_page":"338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9976999759674072,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9976999759674072,"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":0.994700014591217,"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/T10406","display_name":"Planetary Science and Exploration","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8109049797058105},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.5764443874359131},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.560339093208313},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.483104944229126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4435107409954071},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.4127811789512634},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.35182178020477295},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3200882077217102}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8109049797058105},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.5764443874359131},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.560339093208313},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.483104944229126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4435107409954071},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.4127811789512634},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.35182178020477295},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3200882077217102},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit58514.2023.10284509","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/codit58514.2023.10284509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1159302035","https://openalex.org/W1997709480","https://openalex.org/W2104095591","https://openalex.org/W2112546694","https://openalex.org/W2133059825","https://openalex.org/W2154996879","https://openalex.org/W2194775991","https://openalex.org/W2792643794","https://openalex.org/W3094858094","https://openalex.org/W3132455321","https://openalex.org/W4288099398","https://openalex.org/W6749029207","https://openalex.org/W6840380363"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2152313554","https://openalex.org/W2064303750","https://openalex.org/W1509300825","https://openalex.org/W2058728358","https://openalex.org/W4387951187","https://openalex.org/W4281256161"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"CloverNet,":[3],"a":[4,24,161,168,199,240,249],"novel":[5],"convolutional":[6],"neural":[7],"network":[8,195],"(CNN)":[9],"designed":[10],"for":[11,125,204,262],"real-time":[12,32,106,126],"semantic":[13,127,206],"segmentation":[14,128,207],"capabilities":[15],"onboard":[16],"planetary":[17,21,263],"exploration":[18],"rovers.":[19],"Teleoperating":[20],"rovers":[22,211],"is":[23,71,90,129,145,173,196],"tedious":[25],"task":[26],"as":[27,236,238],"it":[28,53,183,222],"requires":[29],"close":[30],"to":[31,56,73,84,92,101,112,118,184,213],"monitoring":[33],"and":[34,38,58,107,138,152,175,190,210,215,231],"planning,":[35],"while":[36],"distance":[37],"communication":[39],"delay":[40],"further":[41],"cripple":[42],"the":[43,75,79,88,103,114,178,234,253,257],"efficiency.":[44],"Future":[45],"up-scaling":[46],"of":[47,167,208,229,244],"off-world":[48],"robotic":[49],"systems":[50],"deployment":[51],"makes":[52],"increasingly":[54],"difficult":[55],"monitor":[57],"command":[59],"each":[60],"agent":[61],"in":[62,110,227],"real-time.":[63],"Thus,":[64],"at":[65,78,105,186,252],"least":[66],"an":[67,148,154],"autonomous":[68],"maneuvering":[69],"capability":[70],"essential":[72],"reduce":[74],"operational":[76,95],"workload":[77],"ground":[80],"station.":[81],"In":[82],"order":[83,111],"achieve":[85],"this":[86],"objective,":[87],"rover":[89,98],"required":[91],"understand":[93],"its":[94],"environment.":[96],"The":[97,143,194],"then":[99],"needs":[100],"process":[102],"information":[104],"efficiently":[108],"respond":[109],"complete":[113],"allocated":[115],"tasks":[116],"or":[117],"recover":[119],"from":[120],"hazards.":[121],"An":[122],"innovative":[123],"CNN":[124],"proposed,":[130],"which":[131],"can":[132,223],"be":[133],"run":[134],"on":[135,147,153,160,248],"limited":[136],"memory":[137],"graphics":[139],"processing":[140],"unit":[141],"(GPU).":[142],"solution":[144],"benchmarked":[146],"RGB-D":[149],"visual":[150],"sensor":[151],"NVIDIA":[155,179],"Jetson":[156],"AGX":[157],"Xavier":[158],"mounted":[159],"skid-steering":[162],"micro-rover":[163],"platform.":[164],"CloverNet":[165,260],"consists":[166],"light":[169],"encoder-decoder":[170],"architecture":[171],"that":[172],"optimized":[174],"quantized":[176],"using":[177,198],"TensorRT":[180],"framework,":[181],"enabling":[182],"operate":[185],"high":[187,225],"frame":[188],"rate":[189],"low":[191],"GPU":[192,250],"latency.":[193],"trained":[197],"new":[200],"data":[201],"set":[202],"curated":[203],"developing":[205],"rocks":[209],"belonging":[212],"Lunar":[214],"Martian":[216],"analogue":[217],"environments.":[218],"Experimental":[219],"results":[220,258],"showed":[221],"reach":[224],"performance":[226],"terms":[228],"accuracy":[230],"intersection":[232],"over":[233],"union,":[235],"well":[237],"achieving":[239],"maximum":[241],"inference":[242],"speed":[243],"\u223c":[245],"55":[246],"FPS":[247],"board":[251],"edge.":[254],"As":[255],"such,":[256],"prove":[259],"suitable":[261],"missions.":[264]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}
