{"id":"https://openalex.org/W4360995366","doi":"https://doi.org/10.1109/lra.2023.3262139","title":"CLONeR: <b>C</b>amera-<b>L</b>idar Fusion for <b>O</b>ccupancy Grid-Aided <b>Ne</b>ural <b>R</b>epresentations","display_name":"CLONeR: <b>C</b>amera-<b>L</b>idar Fusion for <b>O</b>ccupancy Grid-Aided <b>Ne</b>ural <b>R</b>epresentations","publication_year":2023,"publication_date":"2023-03-27","ids":{"openalex":"https://openalex.org/W4360995366","doi":"https://doi.org/10.1109/lra.2023.3262139"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3262139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3262139","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","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/A5008410240","display_name":"Alexandra Carlson","orcid":"https://orcid.org/0000-0002-7628-7023"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]},{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexandra Carlson","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA","Ford Motor Company, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-7628-7023","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Ford Motor Company, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013426565","display_name":"Manikandasriram Srinivasan Ramanagopal","orcid":"https://orcid.org/0000-0002-9278-3625"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manikandasriram S. Ramanagopal","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-9278-3625","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076807021","display_name":"Nathan Tseng","orcid":null},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]},{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Tseng","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA","Ford Motor Company, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Ford Motor Company, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Johnson-Roberson","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0506-907X","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053632225","display_name":"Ram Vasudevan","orcid":"https://orcid.org/0000-0003-1978-0572"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ram Vasudevan","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-1978-0572","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002924029","display_name":"Katherine A. Skinner","orcid":"https://orcid.org/0000-0003-4775-5040"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katherine A. Skinner","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-4775-5040","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.232,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.88971361,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":"5","first_page":"2812","last_page":"2819"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9977999925613403,"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/computer-science","display_name":"Computer science","score":0.7044427394866943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6586323976516724},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5722326040267944},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5513336062431335},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.5431782603263855},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5045579671859741},{"id":"https://openalex.org/keywords/perceptron","display_name":"Perceptron","score":0.4541085362434387},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.41723185777664185},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3830414116382599},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.37474265694618225},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.24947115778923035},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15460368990898132},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09342381358146667}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7044427394866943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6586323976516724},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5722326040267944},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5513336062431335},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.5431782603263855},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5045579671859741},{"id":"https://openalex.org/C60908668","wikidata":"https://www.wikidata.org/wiki/Q690207","display_name":"Perceptron","level":3,"score":0.4541085362434387},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.41723185777664185},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3830414116382599},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.37474265694618225},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.24947115778923035},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15460368990898132},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09342381358146667},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3262139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3262139","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1580389772","https://openalex.org/W2146795245","https://openalex.org/W2150066425","https://openalex.org/W2336416123","https://openalex.org/W2471962767","https://openalex.org/W2519683295","https://openalex.org/W2962785568","https://openalex.org/W3092948912","https://openalex.org/W3109585842","https://openalex.org/W3134621679","https://openalex.org/W3136656704","https://openalex.org/W3173531806","https://openalex.org/W3177583232","https://openalex.org/W3185535223","https://openalex.org/W3201971426","https://openalex.org/W3203570626","https://openalex.org/W3213771853","https://openalex.org/W3215589927","https://openalex.org/W3215769467","https://openalex.org/W3216473017","https://openalex.org/W3216476011","https://openalex.org/W4200313684","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4312280420","https://openalex.org/W4312713450","https://openalex.org/W4312878643","https://openalex.org/W4312969460","https://openalex.org/W4313017495","https://openalex.org/W6784492152","https://openalex.org/W6797770180","https://openalex.org/W6798033281"],"related_works":["https://openalex.org/W2897159755","https://openalex.org/W1993871896","https://openalex.org/W4387123528","https://openalex.org/W2055794451","https://openalex.org/W2066544588","https://openalex.org/W2019136754","https://openalex.org/W599788249","https://openalex.org/W2125554789","https://openalex.org/W2806340142","https://openalex.org/W1538887534"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,175],"neural":[3],"radiance":[4],"fields":[5],"(NeRFs)":[6],"achieve":[7],"state-of-the-art":[8,198],"novel":[9,145,203],"view":[10,204],"synthesis":[11,205],"and":[12,72,74,120,135,159,181,206],"facilitate":[13],"dense":[14,207],"estimation":[15],"of":[16,167],"scene":[17,36],"properties.":[18],"However,":[19],"NeRFs":[20],"often":[21],"fail":[22],"for":[23,47,164,172],"outdoor,":[24],"unbounded":[25,80,102],"scenes":[26,69,81,105,185],"that":[27,106,193],"are":[28,60,107],"captured":[29],"under":[30],"very":[31],"sparse":[32,110,214],"views":[33,62],"with":[34,63,82],"the":[35,42,124,156,187,194],"content":[37],"concentrated":[38],"far":[39],"away":[40],"from":[41,109,186],"camera,":[43],"as":[44],"is":[45,115],"typical":[46],"field":[48],"robotics":[49],"applications.":[50],"In":[51,139],"particular,":[52],"NeRF-style":[53],"algorithms":[54],"perform":[55],"poorly:":[56],"1)":[57],"when":[58,68,76,211],"there":[59],"insufficient":[61],"little":[64],"pose":[65],"diversity,":[66],"2)":[67],"contain":[70],"saturation":[71],"shadows,":[73],"3)":[75],"finely":[77],"sampling":[78,166],"large":[79,101],"fine":[83],"structures":[84],"becomes":[85],"computationally":[86],"intensive.":[87],"This":[88,114],"letter":[89,142,191],"proposesCLONeR,":[90],"which":[91],"significantly":[92],"improves":[93],"upon":[94],"NeRF":[95,125,157,199],"by":[96,117],"allowing":[97],"it":[98],"to":[99,147],"model":[100],"outdoor":[103],"driving":[104],"observed":[108],"input":[111,215],"sensor":[112],"views.":[113],"achieved":[116],"decoupling":[118],"occupancy":[119,162],"color":[121],"learning":[122],"within":[123],"framework":[126],"into":[127],"separate":[128],"Multi-Layer":[129],"Perceptrons":[130],"(MLPs)":[131],"trained":[132,212],"using":[133],"LiDAR":[134],"camera":[136],"data,":[137],"respectively.":[138],"addition,":[140],"this":[141,161,190],"proposes":[143],"a":[144,170],"method":[146,196],"build":[148],"differentiable":[149],"3D":[150],"Occupancy":[151],"Grid":[152],"Maps":[153],"(OGM)":[154],"alongside":[155],"model,":[158],"leverage":[160],"grid":[163],"improved":[165],"points":[168],"along":[169],"ray":[171],"volumetric":[173],"rendering":[174],"metric":[176],"space.":[177],"Through":[178],"extensive":[179],"quantitative":[180],"qualitative":[182],"experiments":[183],"on":[184,201,213],"KITTI":[188],"dataset,":[189],"demonstrates":[192],"proposed":[195],"outperforms":[197],"models":[200],"both":[202],"depth":[208],"prediction":[209],"tasks":[210],"data.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2023-03-30T00:00:00"}
