{"id":"https://openalex.org/W4389664576","doi":"https://doi.org/10.1109/tase.2023.3340190","title":"Mobile-DeepRFB: A Lightweight Terrain Classifier for Automatic Mars Rover Navigation","display_name":"Mobile-DeepRFB: A Lightweight Terrain Classifier for Automatic Mars Rover Navigation","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4389664576","doi":"https://doi.org/10.1109/tase.2023.3340190"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3340190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3340190","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5038023964","display_name":"Lihang Feng","orcid":"https://orcid.org/0000-0002-5790-0478"},"institutions":[{"id":"https://openalex.org/I134687103","display_name":"Nanjing Tech University","ror":"https://ror.org/03sd35x91","country_code":"CN","type":"education","lineage":["https://openalex.org/I134687103"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lihang Feng","raw_affiliation_strings":["College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China","School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China","institution_ids":["https://openalex.org/I134687103"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019065514","display_name":"Sui Wang","orcid":"https://orcid.org/0000-0003-2673-4291"},"institutions":[{"id":"https://openalex.org/I134687103","display_name":"Nanjing Tech University","ror":"https://ror.org/03sd35x91","country_code":"CN","type":"education","lineage":["https://openalex.org/I134687103"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sui Wang","raw_affiliation_strings":["College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China","School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China","institution_ids":["https://openalex.org/I134687103"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100761693","display_name":"Dong Wang","orcid":"https://orcid.org/0000-0002-4908-1361"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Wang","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001174925","display_name":"Pengwen Xiong","orcid":"https://orcid.org/0000-0002-0623-8592"},"institutions":[{"id":"https://openalex.org/I141649914","display_name":"Nanchang University","ror":"https://ror.org/042v6xz23","country_code":"CN","type":"education","lineage":["https://openalex.org/I141649914"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengwen Xiong","raw_affiliation_strings":["School of Information Engineering, Nanchang University, Nanchang, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Nanchang University, Nanchang, China","institution_ids":["https://openalex.org/I141649914"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jinjin Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinjin Xie","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101486105","display_name":"Yong Hu","orcid":"https://orcid.org/0000-0003-3794-0509"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yong Hu","raw_affiliation_strings":["Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100357898","display_name":"Miaomiao Zhang","orcid":"https://orcid.org/0000-0001-9921-6511"},"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":"Miaomiao Zhang","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110956301","display_name":"Edmond Q. Wu","orcid":"https://orcid.org/0000-0003-1301-9870"},"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":"Edmond Q. Wu","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048327458","display_name":"Aiguo Song","orcid":"https://orcid.org/0000-0002-1982-6780"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Song","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5038023964"],"corresponding_institution_ids":["https://openalex.org/I134687103","https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":1.7646,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.84636448,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"17442","last_page":"17451"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9947999715805054,"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"}},"topics":[{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9947999715805054,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9667999744415283,"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":0.9634000062942505,"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/terrain","display_name":"Terrain","score":0.7142205834388733},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.7102518081665039},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6696300506591797},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.669083833694458},{"id":"https://openalex.org/keywords/exploration-of-mars","display_name":"Exploration of Mars","score":0.6018074750900269},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5685524344444275},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.551701545715332},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.4510731101036072},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.41127943992614746},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3741689920425415},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08932459354400635},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08218744397163391}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7142205834388733},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.7102518081665039},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6696300506591797},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.669083833694458},{"id":"https://openalex.org/C68702407","wikidata":"https://www.wikidata.org/wiki/Q716774","display_name":"Exploration of Mars","level":3,"score":0.6018074750900269},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5685524344444275},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.551701545715332},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.4510731101036072},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.41127943992614746},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3741689920425415},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08932459354400635},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08218744397163391},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3340190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3340190","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2859424626","display_name":null,"funder_award_id":"62273240","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3934697153","display_name":null,"funder_award_id":"62103184","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8323178584","display_name":null,"funder_award_id":"2018AAA0102705","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8329673684","display_name":null,"funder_award_id":"U20B2054","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W2123179462","https://openalex.org/W2194775991","https://openalex.org/W2312791952","https://openalex.org/W2412782625","https://openalex.org/W2509494001","https://openalex.org/W2531409750","https://openalex.org/W2752782242","https://openalex.org/W2787091153","https://openalex.org/W2884561390","https://openalex.org/W2962914239","https://openalex.org/W2963163009","https://openalex.org/W2963604034","https://openalex.org/W2982083293","https://openalex.org/W3000280594","https://openalex.org/W3096984909","https://openalex.org/W3112288498","https://openalex.org/W3164378446","https://openalex.org/W3195166614","https://openalex.org/W4206943318","https://openalex.org/W4288775196","https://openalex.org/W4291652919","https://openalex.org/W4389091761","https://openalex.org/W6640295612","https://openalex.org/W6737664043","https://openalex.org/W6739696289"],"related_works":["https://openalex.org/W750104118","https://openalex.org/W770322104","https://openalex.org/W2936464796","https://openalex.org/W1599335669","https://openalex.org/W4386866109","https://openalex.org/W4387423358","https://openalex.org/W799079913","https://openalex.org/W1569896267","https://openalex.org/W110414366","https://openalex.org/W2368853527"],"abstract_inverted_index":{"It":[0,49],"requires":[1],"terrain":[2,47,99,166],"classification":[3,167],"for":[4,44,261],"unmanned":[5],"Mars":[6,98,151],"Rover":[7],"to":[8,68,79,88,122,148,150,156,180,201,213,227],"identify":[9],"the":[10,45,52,62,65,70,73,81,90,96,104,110,115,123,163,187,207,216,229,236,246,251],"safe":[11],"areas.":[12],"The":[13,130,220],"current":[14],"deep":[15],"learning-based":[16],"semantic":[17,177],"segmentation":[18,38,178,199],"and":[19,29,72,113,126,256],"object":[20],"recognition":[21],"suffer":[22],"from":[23,51,186],"a":[24,36,136,190,197,239],"large":[25,191],"number":[26,112,192,217,252],"of":[27,132,165,168,189,193,218,253],"parameters":[28,71,255],"long":[30],"training":[31],"time.":[32],"In":[33,205],"this":[34,133,203],"paper,":[35],"lightweight":[37,198,208],"framework":[39,134,200,237,247],"called":[40],"Mobile-DeepRFB":[41],"is":[42,211,224],"proposed":[43],"Martian":[46],"classification.":[48],"improves":[50,114],"DeepLabV3":[53],"<inline-formula":[54],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[55,154],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[56],"<tex-math":[57],"notation=\"LaTeX\">$+$</tex-math>":[58],"</inline-formula>":[59],"by":[60,119,162],"taking":[61],"MobileNetV3":[63],"as":[64,85,87],"backbone":[66,128,209],"module":[67,78,223],"decrease":[69],"Receptive":[74],"Field":[75],"Block":[76],"(RFB)":[77],"strengthen":[80],"feature":[82,230],"extraction":[83,231],"capability":[84],"well":[86],"enlarge":[89],"receptive":[91,221],"field.":[92],"Experimental":[93,242],"results":[94],"on":[95,135,176,238],"NASA":[97],"dataset":[100],"AI4MARS":[101],"show":[102,244],"that":[103,245],"presented":[105],"method":[106],"reduces":[107],"94%":[108],"about":[109],"parameter":[111],"mean":[116],"pixel":[117],"accuracy":[118],"2%":[120],"compared":[121],"existing":[124],"ResNet101":[125],"Xception":[127],"networks.":[129],"deployment":[131],"low-computing":[137,240],"power":[138],"embedded":[139],"platform":[140],"(NVIDIA":[141],"Jetson":[142],"Xavier)":[143],"demonstrates":[144],"its":[145],"great":[146],"potential":[147],"apply":[149],"rovers.":[152,170],"<italic":[153],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[155],"Practitioners</i>":[157],"\u2014This":[158],"paper":[159],"was":[160],"motivated":[161],"problem":[164],"planetary":[169,262],"Existing":[171],"methods":[172],"are":[173],"typically":[174],"based":[175],"technology":[179],"recognize":[181],"various":[182],"terrains":[183],"while":[184],"suffering":[185],"drawback":[188],"parameters.":[194,219],"We":[195],"propose":[196],"address":[202],"issue.":[204],"particular,":[206],"network":[210,254],"applied":[212],"significantly":[214,249],"reduce":[215,250],"field":[222],"substantially":[225],"improved":[226],"enhance":[228],"capability.":[232],"Eventually,":[233],"we":[234],"deploy":[235],"platform.":[241],"tests":[243],"can":[248,258],"it":[257],"be":[259],"used":[260],"rovers":[263],"with":[264],"limited":[265],"computational":[266],"resources.":[267]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}
