{"id":"https://openalex.org/W4285013350","doi":"https://doi.org/10.3390/rs14143324","title":"The Deep Convolutional Neural Network Role in the Autonomous Navigation of Mobile Robots (SROBO)","display_name":"The Deep Convolutional Neural Network Role in the Autonomous Navigation of Mobile Robots (SROBO)","publication_year":2022,"publication_date":"2022-07-10","ids":{"openalex":"https://openalex.org/W4285013350","doi":"https://doi.org/10.3390/rs14143324"},"language":"en","primary_location":{"id":"doi:10.3390/rs14143324","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14143324","pdf_url":"https://www.mdpi.com/2072-4292/14/14/3324/pdf?version=1657529398","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/14/14/3324/pdf?version=1657529398","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014309668","display_name":"Shabnam Sadeghi Esfahlani","orcid":"https://orcid.org/0000-0002-1443-0330"},"institutions":[{"id":"https://openalex.org/I51216347","display_name":"Anglia Ruskin University","ror":"https://ror.org/0009t4v78","country_code":"GB","type":"education","lineage":["https://openalex.org/I51216347"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Shabnam Sadeghi Esfahlani","raw_affiliation_strings":["Medical Technology Research Centre (MTRC), School of Engineering and the Built Environment, Anglia Ruskin University, Essex CM1 1SQ, UK"],"affiliations":[{"raw_affiliation_string":"Medical Technology Research Centre (MTRC), School of Engineering and the Built Environment, Anglia Ruskin University, Essex CM1 1SQ, UK","institution_ids":["https://openalex.org/I51216347"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086526364","display_name":"Alireza Sanaei","orcid":"https://orcid.org/0000-0003-2718-9678"},"institutions":[{"id":"https://openalex.org/I51216347","display_name":"Anglia Ruskin University","ror":"https://ror.org/0009t4v78","country_code":"GB","type":"education","lineage":["https://openalex.org/I51216347"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alireza Sanaei","raw_affiliation_strings":["School of Engineering and the Built Environment, Anglia Ruskin University, Essex CM1 1SQ, UK"],"affiliations":[{"raw_affiliation_string":"School of Engineering and the Built Environment, Anglia Ruskin University, Essex CM1 1SQ, UK","institution_ids":["https://openalex.org/I51216347"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049976556","display_name":"Mohammad Ghorabian","orcid":null},"institutions":[{"id":"https://openalex.org/I51216347","display_name":"Anglia Ruskin University","ror":"https://ror.org/0009t4v78","country_code":"GB","type":"education","lineage":["https://openalex.org/I51216347"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohammad Ghorabian","raw_affiliation_strings":["School of Engineering and the Built Environment, Anglia Ruskin University, Essex CM1 1SQ, UK"],"affiliations":[{"raw_affiliation_string":"School of Engineering and the Built Environment, Anglia Ruskin University, Essex CM1 1SQ, UK","institution_ids":["https://openalex.org/I51216347"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044877931","display_name":"Hassan Shirvani","orcid":"https://orcid.org/0009-0001-7045-5735"},"institutions":[{"id":"https://openalex.org/I51216347","display_name":"Anglia Ruskin University","ror":"https://ror.org/0009t4v78","country_code":"GB","type":"education","lineage":["https://openalex.org/I51216347"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hassan Shirvani","raw_affiliation_strings":["Medical Technology Research Centre (MTRC), School of Engineering and the Built Environment, Anglia Ruskin University, Essex CM1 1SQ, UK"],"affiliations":[{"raw_affiliation_string":"Medical Technology Research Centre (MTRC), School of Engineering and the Built Environment, Anglia Ruskin University, Essex CM1 1SQ, UK","institution_ids":["https://openalex.org/I51216347"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5014309668"],"corresponding_institution_ids":["https://openalex.org/I51216347"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":6.7734,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.96260793,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"14","issue":"14","first_page":"3324","last_page":"3324"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9959999918937683,"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/computer-science","display_name":"Computer science","score":0.817034900188446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7854307293891907},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6602746248245239},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.6266803741455078},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.624732255935669},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5690328478813171},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5269806385040283},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.48272964358329773},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4645034968852997},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.45185959339141846},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.43740665912628174}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.817034900188446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7854307293891907},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6602746248245239},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.6266803741455078},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.624732255935669},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5690328478813171},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5269806385040283},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.48272964358329773},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4645034968852997},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.45185959339141846},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.43740665912628174},{"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":4,"locations":[{"id":"doi:10.3390/rs14143324","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14143324","pdf_url":"https://www.mdpi.com/2072-4292/14/14/3324/pdf?version=1657529398","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:40cf862129e5480db33e2ad4cd2846c7","is_oa":true,"landing_page_url":"https://doaj.org/article/40cf862129e5480db33e2ad4cd2846c7","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 14, Iss 14, p 3324 (2022)","raw_type":"article"},{"id":"pmh:oai:figshare.com:article/23782167","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/The_Deep_Convolutional_Neural_Network_Role_in_the_Autonomous_Navigation_of_Mobile_Robots_SROBO_/23782167","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/2072-4292/14/14/3324/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs14143324","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing; Volume 14; Issue 14; Pages: 3324","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs14143324","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14143324","pdf_url":"https://www.mdpi.com/2072-4292/14/14/3324/pdf?version=1657529398","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285013350.pdf","grobid_xml":"https://content.openalex.org/works/W4285013350.grobid-xml"},"referenced_works_count":62,"referenced_works":["https://openalex.org/W1497244971","https://openalex.org/W1538131130","https://openalex.org/W1612997784","https://openalex.org/W1627400044","https://openalex.org/W1656165940","https://openalex.org/W1849277567","https://openalex.org/W1903029394","https://openalex.org/W1921054364","https://openalex.org/W1923184257","https://openalex.org/W1967740178","https://openalex.org/W2006905283","https://openalex.org/W2015861736","https://openalex.org/W2015996585","https://openalex.org/W2037227137","https://openalex.org/W2064675550","https://openalex.org/W2069479606","https://openalex.org/W2080823437","https://openalex.org/W2085261163","https://openalex.org/W2097117768","https://openalex.org/W2097998348","https://openalex.org/W2118023920","https://openalex.org/W2147489358","https://openalex.org/W2163605009","https://openalex.org/W2163842790","https://openalex.org/W2183341477","https://openalex.org/W2193145675","https://openalex.org/W2194775991","https://openalex.org/W2198527813","https://openalex.org/W2328033575","https://openalex.org/W2535547924","https://openalex.org/W2546302380","https://openalex.org/W2563705555","https://openalex.org/W2621274416","https://openalex.org/W2745859992","https://openalex.org/W2753041493","https://openalex.org/W2770135404","https://openalex.org/W2804860796","https://openalex.org/W2810392541","https://openalex.org/W2887280559","https://openalex.org/W2891336752","https://openalex.org/W2898231767","https://openalex.org/W2910121883","https://openalex.org/W2963125010","https://openalex.org/W2963163009","https://openalex.org/W2967115342","https://openalex.org/W2990599334","https://openalex.org/W3034261264","https://openalex.org/W3094297360","https://openalex.org/W3100321043","https://openalex.org/W3102327032","https://openalex.org/W3106250896","https://openalex.org/W4231109964","https://openalex.org/W4252782962","https://openalex.org/W6632100814","https://openalex.org/W6636759986","https://openalex.org/W6674385629","https://openalex.org/W6677586171","https://openalex.org/W6679388247","https://openalex.org/W6724998850","https://openalex.org/W6734593296","https://openalex.org/W6785154775","https://openalex.org/W6888765124"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W4287122200","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W2991246638","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"The":[0,89,114,168,180],"ability":[1],"to":[2,45,71,142,193],"navigate":[3,77],"unstructured":[4],"environments":[5,148],"is":[6],"an":[7,20,48,63,92,107],"essential":[8],"task":[9],"for":[10],"intelligent":[11],"systems.":[12],"Autonomous":[13],"navigation":[14],"by":[15,26,186],"ground":[16,65],"vehicles":[17],"requires":[18],"developing":[19],"internal":[21],"representation":[22],"of":[23,111,146,164,182],"space,":[24],"trained":[25],"recognizable":[27],"landmarks,":[28],"robust":[29],"visual":[30],"processing,":[31],"computer":[32],"vision":[33],"and":[34,54,76,86,100,118,127],"image":[35,128],"processing.":[36],"A":[37],"mobile":[38],"robot":[39,66,173],"needs":[40],"a":[41,81,96,144],"platform":[42],"enabling":[43],"it":[44],"operate":[46],"in":[47,57],"environment":[49],"autonomously,":[50],"recognize":[51],"the":[52,123,161,165,172,183,189,194],"objects,":[53],"avoid":[55],"obstacles":[56],"its":[58,74,178],"path.":[59],"In":[60],"this":[61],"study,":[62],"open-source":[64],"called":[67],"SROBO":[68,184],"was":[69,140],"designed":[70],"accurately":[72],"identify":[73],"position":[75],"certain":[78],"areas":[79],"using":[80,188],"deep":[82,112,152],"convolutional":[83,153],"neural":[84,154],"network":[85,155],"transfer":[87],"learning.":[88,113],"framework":[90],"uses":[91],"RGB-D":[93],"MYNTEYE":[94],"camera,":[95],"2D":[97],"laser":[98],"scanner":[99],"inertial":[101],"measurement":[102],"units":[103],"(IMU)":[104],"operating":[105],"through":[106],"embedded":[108],"system":[109,130,191],"capable":[110],"real-time":[115],"decision-making":[116],"process":[117],"experiments":[119],"were":[120],"conducted":[121],"while":[122,149],"onboard":[124],"signal":[125],"processing":[126],"capturing":[129],"enabled":[131],"continuous":[132],"information":[133],"analysis.":[134],"State-of-the-art":[135],"Real-Time":[136],"Graph-Based":[137],"SLAM":[138],"(RTAB-Map)":[139],"adopted":[141],"create":[143],"map":[145],"indoor":[147],"benefiting":[150],"from":[151],"(Deep-CNN)":[156],"capability.":[157],"Enforcing":[158],"Deep-CNN":[159],"improved":[160],"performance":[162],"quality":[163],"RTAB-Map":[166,196],"SLAM.":[167,197],"proposed":[169,190],"setting":[170],"equipped":[171],"with":[174],"more":[175],"insight":[176],"into":[177],"surroundings.":[179],"robustness":[181],"increased":[185],"35%":[187],"compared":[192],"conventional":[195]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}