{"id":"https://openalex.org/W3127482800","doi":"https://doi.org/10.1145/3443467.3443803","title":"Inverse Depth Line Model of LiDAR Data for Traversable Region Segmentation","display_name":"Inverse Depth Line Model of LiDAR Data for Traversable Region Segmentation","publication_year":2020,"publication_date":"2020-11-06","ids":{"openalex":"https://openalex.org/W3127482800","doi":"https://doi.org/10.1145/3443467.3443803","mag":"3127482800"},"language":"en","primary_location":{"id":"doi:10.1145/3443467.3443803","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3443467.3443803","pdf_url":null,"source":{"id":"https://openalex.org/S4306523680","display_name":"Proceedings of the 2020 4th International Conference on Electronic Information Technology and Computer Engineering","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":"Proceedings of the 2020 4th International Conference on Electronic Information Technology and Computer Engineering","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/A5100732627","display_name":"Zhen Liu","orcid":"https://orcid.org/0000-0002-1559-6543"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhen Liu","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu, China, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Nanjing University of Science and Technology, Nanjing, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu, China, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Nanjing University of Science and Technology, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102968758","display_name":"Mingwu Ren","orcid":"https://orcid.org/0000-0001-5576-3281"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingwu Ren","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu, China, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Nanjing University of Science and Technology, Nanjing, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu, China, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Nanjing University of Science and Technology, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100715019","display_name":"Zhong Jin","orcid":"https://orcid.org/0000-0002-4293-0869"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Jin","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu, China, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Nanjing University of Science and Technology, Nanjing, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu, China, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Nanjing University of Science and Technology, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100732627"],"corresponding_institution_ids":["https://openalex.org/I36399199"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.29497099,"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":"489","last_page":"494"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7865979671478271},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7290398478507996},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6976625919342041},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6962696313858032},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.6440709829330444},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6215491890907288},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6063106656074524},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.588936448097229},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5463921427726746},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5132970213890076},{"id":"https://openalex.org/keywords/parallel","display_name":"Parallel","score":0.4606691598892212},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.443376362323761},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.44229254126548767},{"id":"https://openalex.org/keywords/line-segment","display_name":"Line segment","score":0.44221585988998413},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.34000352025032043},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.26765185594558716},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.26020658016204834},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17616212368011475},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15431833267211914},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13747161626815796}],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7865979671478271},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7290398478507996},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6976625919342041},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6962696313858032},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.6440709829330444},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6215491890907288},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6063106656074524},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.588936448097229},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5463921427726746},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5132970213890076},{"id":"https://openalex.org/C88740403","wikidata":"https://www.wikidata.org/wiki/Q53875","display_name":"Parallel","level":2,"score":0.4606691598892212},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.443376362323761},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.44229254126548767},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.44221585988998413},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.34000352025032043},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.26765185594558716},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.26020658016204834},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17616212368011475},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15431833267211914},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13747161626815796},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3443467.3443803","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3443467.3443803","pdf_url":null,"source":{"id":"https://openalex.org/S4306523680","display_name":"Proceedings of the 2020 4th International Conference on Electronic Information Technology and Computer Engineering","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":"Proceedings of the 2020 4th International Conference on Electronic Information Technology and Computer Engineering","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"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":25,"referenced_works":["https://openalex.org/W1570209653","https://openalex.org/W1598729455","https://openalex.org/W1977799346","https://openalex.org/W1984266349","https://openalex.org/W2003258311","https://openalex.org/W2036204721","https://openalex.org/W2085261163","https://openalex.org/W2095869861","https://openalex.org/W2104572919","https://openalex.org/W2123969489","https://openalex.org/W2138361487","https://openalex.org/W2143742957","https://openalex.org/W2160445453","https://openalex.org/W2163470068","https://openalex.org/W2428720205","https://openalex.org/W2737389593","https://openalex.org/W2754444051","https://openalex.org/W2891012859","https://openalex.org/W2918989099","https://openalex.org/W2940269419","https://openalex.org/W2981083640","https://openalex.org/W2990699562","https://openalex.org/W6608396466","https://openalex.org/W6649614444","https://openalex.org/W6676990836"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2082043148","https://openalex.org/W2601467812","https://openalex.org/W2994044385","https://openalex.org/W2032825554","https://openalex.org/W2044633689","https://openalex.org/W2538807083","https://openalex.org/W2506376595","https://openalex.org/W1761561415"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"an":[5,69],"Inverse":[6],"Depth":[7],"Line":[8],"(IDL)":[9],"model":[10,19,46],"of":[11,47,52,83,135],"LiDAR":[12],"data":[13],"for":[14,144],"traversable":[15,136],"region":[16],"segmentation.":[17,103],"This":[18],"first":[20],"organizes":[21],"the":[22,35,44,50,54,101,116],"disordered":[23],"point":[24,36],"cloud":[25],"with":[26],"a":[27,60],"2D":[28,64],"structure":[29],"array":[30],"to":[31,77],"store":[32],"and":[33,86,92,99,110,121,127,138],"index":[34],"cloud.":[37],"Then,":[38],"IDL":[39,94],"is":[40,57,75,119,147],"deduced":[41],"based":[42],"on":[43,67,107],"scanning":[45],"LiDAR.":[48],"With":[49],"help":[51],"IDL,":[53,68],"road":[55,126],"plane":[56],"represented":[58],"as":[59],"straight":[61],"line":[62],"in":[63,125],"space.":[65],"Based":[66],"inverse":[70,81],"depth":[71,82],"segmentation":[72,134],"(IDS)":[73],"algorithm":[74],"proposed":[76,117],"classify":[78],"obstacles.":[79,139],"The":[80,130,140],"positive":[84],"obstacles":[85,88],"negative":[87],"are":[89],"projected":[90],"above":[91],"below":[93],"respectively.":[95],"IDS":[96],"greatly":[97],"simplifies":[98],"accelerates":[100],"obstacle":[102,128],"We":[104],"conduct":[105],"experiments":[106],"both":[108],"structured":[109],"unstructured":[111],"environments.":[112],"Experiments":[113],"show":[114],"that":[115],"method":[118,131],"robust":[120],"gets":[122],"promising":[123],"results":[124],"detection.":[129],"implements":[132],"real-time":[133],"regions":[137],"average":[141],"processing":[142],"time":[143],"each":[145],"frame":[146],"just":[148],"14":[149],"ms.":[150]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
