{"id":"https://openalex.org/W4409084639","doi":"https://doi.org/10.32604/cmc.2025.062963","title":"CFH-Net: Transformer-Based Unstructured Road-Free Space Detection Network","display_name":"CFH-Net: Transformer-Based Unstructured Road-Free Space Detection Network","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409084639","doi":"https://doi.org/10.32604/cmc.2025.062963"},"language":"en","primary_location":{"id":"doi:10.32604/cmc.2025.062963","is_oa":true,"landing_page_url":"https://doi.org/10.32604/cmc.2025.062963","pdf_url":null,"source":{"id":"https://openalex.org/S4210191605","display_name":"Computers, materials & continua/Computers, materials & continua (Print)","issn_l":"1546-2218","issn":["1546-2218","1546-2226"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers, Materials &amp; Continua","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.32604/cmc.2025.062963","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jingcheng Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jingcheng Yang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020446220","display_name":"Lili Fan","orcid":"https://orcid.org/0000-0002-9506-3762"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lili Fan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5078220885","display_name":"Hongmei Liu","orcid":"https://orcid.org/0000-0003-1064-2448"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hongmei Liu","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08241505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"83","issue":"3","first_page":"4725","last_page":"4740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13282","display_name":"Automated Road and Building Extraction","score":0.9940000176429749,"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":0.9940000176429749,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9711999893188477,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.968999981880188,"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/transformer","display_name":"Transformer","score":0.5501211881637573},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48532456159591675},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.32322216033935547},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.20115670561790466},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18076834082603455},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.08020487427711487}],"concepts":[{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5501211881637573},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48532456159591675},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.32322216033935547},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.20115670561790466},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18076834082603455},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.08020487427711487}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.32604/cmc.2025.062963","is_oa":true,"landing_page_url":"https://doi.org/10.32604/cmc.2025.062963","pdf_url":null,"source":{"id":"https://openalex.org/S4210191605","display_name":"Computers, materials & continua/Computers, materials & continua (Print)","issn_l":"1546-2218","issn":["1546-2218","1546-2226"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers, Materials &amp; Continua","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.32604/cmc.2025.062963","is_oa":true,"landing_page_url":"https://doi.org/10.32604/cmc.2025.062963","pdf_url":null,"source":{"id":"https://openalex.org/S4210191605","display_name":"Computers, materials & continua/Computers, materials & continua (Print)","issn_l":"1546-2218","issn":["1546-2218","1546-2226"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers, Materials &amp; Continua","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1988720110","https://openalex.org/W2115579991","https://openalex.org/W2906074946","https://openalex.org/W2963881378","https://openalex.org/W2993853826","https://openalex.org/W3014641072","https://openalex.org/W3015248322","https://openalex.org/W3015871565","https://openalex.org/W3025191362","https://openalex.org/W3080980548","https://openalex.org/W3108601100","https://openalex.org/W3136714643","https://openalex.org/W3196904463","https://openalex.org/W4214893857","https://openalex.org/W4376870884","https://openalex.org/W4386179772","https://openalex.org/W4390872078","https://openalex.org/W4401415504","https://openalex.org/W4405803548"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"With":[0],"the":[1,7,136,144,153,181,193],"advancement":[2],"of":[3,124,156],"deep":[4,54],"learning":[5,55],"in":[6,77,101],"automotive":[8],"domain,":[9],"more":[10,12],"and":[11,64,84,132,142,176,197],"researchers":[13],"are":[14,52],"focusing":[15],"on":[16,36,45,89,159,192,207],"autonomous":[17,34,157],"driving.":[18],"Among":[19],"these":[20,41],"tasks,":[21],"free":[22],"space":[23],"detection":[24],"is":[25,67,72,203],"particularly":[26],"crucial.":[27],"Currently,":[28],"many":[29],"model-based":[30],"approaches":[31],"have":[32],"achieved":[33,198],"driving":[35],"well-structured":[37],"urban":[38,46],"roads,":[39],"but":[40],"efforts":[42],"primarily":[43],"focus":[44],"road":[47],"environments.":[48],"In":[49],"contrast,":[50],"there":[51],"fewer":[53],"methods":[56,86],"specifically":[57],"designed":[58],"for":[59,109,139,148],"off-road":[60,110,195],"traversable":[61,75,111],"area":[62,112],"detection,":[63],"their":[65],"effectiveness":[66],"not":[68,94],"yet":[69],"satisfactory.":[70],"This":[71,114],"because":[73],"detecting":[74],"areas":[76],"complex":[78,186],"outdoor":[79],"environments":[80],"poses":[81],"significant":[82],"challenges,":[83],"current":[85],"often":[87],"rely":[88],"single-image":[90],"inputs,":[91],"which":[92],"do":[93],"align":[95],"with":[96],"contemporary":[97],"multimodal":[98,129],"approaches.":[99],"Therefore,":[100],"this":[102],"study,":[103],"we":[104,134,165,189],"propose":[105,166],"a":[106,117,167],"CFH-Net":[107],"model":[108,115,174],"detection.":[113],"employs":[116],"Transformer":[118],"architecture":[119],"to":[120,172,184],"enhance":[121],"its":[122],"capability":[123,155],"capturing":[125],"global":[126],"information.":[127],"For":[128],"feature":[130,140,149],"extraction":[131,141],"fusion,":[133,150],"integrate":[135],"CM-FRM":[137],"module":[138,147],"introduce":[143],"novel":[145],"FFX":[146],"thereby":[151],"improving":[152],"perception":[154],"vehicles":[158],"unstructured":[160],"roads.":[161],"To":[162],"address":[163],"upsampling,":[164],"new":[168],"convolution":[169],"precorrection":[170],"method":[171],"reduce":[173],"parameters":[175],"computational":[177],"complexity":[178],"while":[179],"enhancing":[180],"model\u2019s":[182],"ability":[183],"capture":[185],"features.":[187],"Finally,":[188],"conducted":[190],"experiments":[191],"ORFD":[194],"dataset":[196],"outstanding":[199],"results.":[200],"The":[201],"code":[202],"available":[204],"at:":[205],"(accessed":[206],"11":[208],"January":[209],"2025).":[210]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
