{"id":"https://openalex.org/W4388140341","doi":"https://doi.org/10.1142/s2301385024410048","title":"Learning Multi-Modal Scale-Aware Attentions for Efficient and Robust Road Segmentation","display_name":"Learning Multi-Modal Scale-Aware Attentions for Efficient and Robust Road Segmentation","publication_year":2023,"publication_date":"2023-11-01","ids":{"openalex":"https://openalex.org/W4388140341","doi":"https://doi.org/10.1142/s2301385024410048"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385024410048","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1142/s2301385024410048","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","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/A5101435022","display_name":"Yunjiao Zhou","orcid":"https://orcid.org/0009-0009-7515-1739"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yunjiao Zhou","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0009-0009-7515-1739","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005666034","display_name":"Jianfei Yang","orcid":"https://orcid.org/0000-0002-8075-0439"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Jianfei Yang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-8075-0439","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062455018","display_name":"Haozhi Cao","orcid":"https://orcid.org/0000-0001-7703-3490"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haozhi Cao","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-7703-3490","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081985857","display_name":"Zhaoyang Zeng","orcid":"https://orcid.org/0000-0002-0648-0565"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhaoyang Zeng","raw_affiliation_strings":["Computer Vision and Robot Research Center, International Digital Economy Academy, Shenzhen, Guangdong, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Robot Research Center, International Digital Economy Academy, Shenzhen, Guangdong, P. R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088007042","display_name":"Han Zou","orcid":"https://orcid.org/0000-0002-8063-5211"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Han Zou","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7137-4136","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5005666034"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19578838,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":"02","first_page":"201","last_page":"213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13282","display_name":"Automated Road and Building Extraction","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T13282","display_name":"Automated Road and Building Extraction","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11063","display_name":"Rough Sets and Fuzzy Logic","score":0.9677000045776367,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.9426000118255615,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7470110654830933},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6623374223709106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5913757085800171},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5192599296569824},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.49825072288513184},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.41640934348106384}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7470110654830933},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6623374223709106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5913757085800171},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5192599296569824},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.49825072288513184},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.41640934348106384},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s2301385024410048","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1142/s2301385024410048","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/159277","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/159277","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis-Master by Coursework"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W33116912","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W2115519229","https://openalex.org/W2138180828","https://openalex.org/W2167222293","https://openalex.org/W2295107390","https://openalex.org/W2505004417","https://openalex.org/W2752782242","https://openalex.org/W2762439315","https://openalex.org/W2765382011","https://openalex.org/W2791426782","https://openalex.org/W2884436604","https://openalex.org/W2885813678","https://openalex.org/W2889372822","https://openalex.org/W2891529090","https://openalex.org/W2932012013","https://openalex.org/W2943709178","https://openalex.org/W2959581809","https://openalex.org/W2963881378","https://openalex.org/W2966947780","https://openalex.org/W2968557240","https://openalex.org/W2995118031","https://openalex.org/W3008046551","https://openalex.org/W3033020497","https://openalex.org/W3080961686","https://openalex.org/W3081055539","https://openalex.org/W3096609285","https://openalex.org/W3103520796","https://openalex.org/W3105378872","https://openalex.org/W3108601100","https://openalex.org/W3130089842","https://openalex.org/W3134257222","https://openalex.org/W3143320354","https://openalex.org/W3172863135","https://openalex.org/W3190666950","https://openalex.org/W4383531718","https://openalex.org/W4383752409"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2772917594","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"Road":[0],"segmentation":[1,22],"is":[2],"essential":[3],"to":[4,8,37,69,95],"unmanned":[5],"systems,":[6],"contributing":[7],"road":[9,21,166],"perception":[10],"and":[11,35,75,80,98,156,161],"navigation":[12],"in":[13,55,186],"the":[14,30,152,159],"field":[15],"of":[16,33,61,129,154],"autonomous":[17,56,187],"driving.":[18,57],"While":[19],"multi-modal":[20,62],"methods":[23,44],"have":[24],"shown":[25],"promising":[26],"results":[27],"by":[28],"leveraging":[29],"complementary":[31],"data":[32,100],"RGB":[34,97],"Depth":[36,99],"provide":[38],"robust":[39],"3D":[40],"geometry":[41],"information,":[42],"existing":[43],"suffer":[45],"from":[46,117],"severe":[47],"efficiency":[48],"problems":[49],"that":[50,139],"hinder":[51],"their":[52],"practical":[53],"application":[54],"Their":[58],"direct":[59],"concatenation":[60],"features":[63,116],"with":[64],"a":[65,89,103,118,134,176],"densely-connected":[66],"network":[67],"leads":[68],"increased":[70],"semantic":[71],"gaps":[72,160],"among":[73],"modalities":[74,155],"scales,":[76,157],"causing":[77],"high":[78],"computational":[79,178],"time":[81],"complexity.":[82],"To":[83,124],"address":[84],"these":[85],"issues,":[86],"we":[87,131],"propose":[88,133],"Multi-modal":[90,109],"Scale-aware":[91,135],"Attention":[92,136],"Network":[93],"(MSAN)":[94],"fuse":[96],"effectively":[101],"via":[102],"novel":[104],"transformer-based":[105],"cross-attention":[106],"module,":[107],"namely":[108],"Scare-aware":[110],"Transformer":[111],"(MST),":[112],"which":[113],"fuses":[114],"RGB-D":[115],"global":[119],"perspective":[120],"across":[121],"multiple":[122],"scales.":[123],"better":[125],"consolidate":[126],"different":[127],"scales":[128],"features,":[130],"further":[132],"Module":[137],"(SAM)":[138],"captures":[140],"channel-wise":[141],"attention":[142],"efficiently":[143],"for":[144,165,181],"cross-scale":[145],"fusion.":[146],"These":[147],"two":[148],"attention-based":[149],"modules":[150],"explore":[151],"complementarity":[153],"narrowing":[158],"avoiding":[162],"complex":[163],"structures":[164],"segmentation.":[167],"Extensive":[168],"experiments":[169],"demonstrate":[170],"MSAN":[171],"achieves":[172],"competitive":[173],"performance":[174],"at":[175],"low":[177],"cost,":[179],"suitable":[180],"real-time":[182],"implementation":[183],"on":[184],"edge-devices":[185],"driving":[188],"systems.":[189]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}