{"id":"https://openalex.org/W4311375979","doi":"https://doi.org/10.3390/rs14246297","title":"SegMarsViT: Lightweight Mars Terrain Segmentation Network for Autonomous Driving in Planetary Exploration","display_name":"SegMarsViT: Lightweight Mars Terrain Segmentation Network for Autonomous Driving in Planetary Exploration","publication_year":2022,"publication_date":"2022-12-12","ids":{"openalex":"https://openalex.org/W4311375979","doi":"https://doi.org/10.3390/rs14246297"},"language":"en","primary_location":{"id":"doi:10.3390/rs14246297","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14246297","pdf_url":"https://www.mdpi.com/2072-4292/14/24/6297/pdf?version=1670849564","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/2072-4292/14/24/6297/pdf?version=1670849564","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079361474","display_name":"Yuqi Dai","orcid":"https://orcid.org/0000-0002-9630-4249"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210115570","display_name":"National Space Science Center","ror":"https://ror.org/02nnjtm50","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210115570"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqi Dai","raw_affiliation_strings":["National Space Science Center, Chinese Academy of Sciences, Beijing 100190, China","University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":"https://orcid.org/0000-0002-9630-4249","affiliations":[{"raw_affiliation_string":"National Space Science Center, Chinese Academy of Sciences, Beijing 100190, China","institution_ids":["https://openalex.org/I4210115570","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101192395","display_name":"Tie Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210115570","display_name":"National Space Science Center","ror":"https://ror.org/02nnjtm50","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210115570"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tie Zheng","raw_affiliation_strings":["National Space Science Center, Chinese Academy of Sciences, Beijing 100190, China","University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Space Science Center, Chinese Academy of Sciences, Beijing 100190, China","institution_ids":["https://openalex.org/I4210115570","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003072568","display_name":"Changbin Xue","orcid":"https://orcid.org/0000-0003-1834-7849"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210115570","display_name":"National Space Science Center","ror":"https://ror.org/02nnjtm50","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210115570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Changbin Xue","raw_affiliation_strings":["National Space Science Center, Chinese Academy of Sciences, Beijing 100190, China"],"raw_orcid":"https://orcid.org/0000-0003-1834-7849","affiliations":[{"raw_affiliation_string":"National Space Science Center, Chinese Academy of Sciences, Beijing 100190, China","institution_ids":["https://openalex.org/I4210115570","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106382322","display_name":"Li Zhou","orcid":"https://orcid.org/0000-0001-8688-1301"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210115570","display_name":"National Space Science Center","ror":"https://ror.org/02nnjtm50","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210115570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Zhou","raw_affiliation_strings":["National Space Science Center, Chinese Academy of Sciences, Beijing 100190, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Space Science Center, Chinese Academy of Sciences, Beijing 100190, China","institution_ids":["https://openalex.org/I4210115570","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5003072568"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210115570"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":4.7985,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.95400428,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"14","issue":"24","first_page":"6297","last_page":"6297"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9969000220298767,"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":0.9969000220298767,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9944000244140625,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9797000288963318,"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/computer-science","display_name":"Computer science","score":0.8074586391448975},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6751116514205933},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6641160249710083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5735079050064087},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.5729820132255554},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5383016467094421},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4357547163963318},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4317846894264221},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32818618416786194},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08587685227394104}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8074586391448975},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6751116514205933},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6641160249710083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5735079050064087},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.5729820132255554},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5383016467094421},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4357547163963318},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4317846894264221},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32818618416786194},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08587685227394104},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs14246297","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14246297","pdf_url":"https://www.mdpi.com/2072-4292/14/24/6297/pdf?version=1670849564","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:38708a7b5717411c88ab3da0fd5239a6","is_oa":true,"landing_page_url":"https://doaj.org/article/38708a7b5717411c88ab3da0fd5239a6","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 14, Iss 24, p 6297 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/14/24/6297/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs14246297","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 24; Pages: 6297","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs14246297","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14246297","pdf_url":"https://www.mdpi.com/2072-4292/14/24/6297/pdf?version=1670849564","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":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4311375979.pdf"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W2095389390","https://openalex.org/W2143941221","https://openalex.org/W2509494001","https://openalex.org/W2560023338","https://openalex.org/W2804860796","https://openalex.org/W2886934227","https://openalex.org/W2895340641","https://openalex.org/W2940474620","https://openalex.org/W2963163009","https://openalex.org/W2963418739","https://openalex.org/W2963954267","https://openalex.org/W2964309882","https://openalex.org/W2980088508","https://openalex.org/W2984762222","https://openalex.org/W2986617423","https://openalex.org/W2995059005","https://openalex.org/W3099754550","https://openalex.org/W3113755791","https://openalex.org/W3114848016","https://openalex.org/W3122625936","https://openalex.org/W3131500599","https://openalex.org/W3138516171","https://openalex.org/W3170841864","https://openalex.org/W3195166614","https://openalex.org/W3195188467","https://openalex.org/W3196904463","https://openalex.org/W3211490618","https://openalex.org/W4210855954","https://openalex.org/W4212875960","https://openalex.org/W4213305896","https://openalex.org/W4214893857","https://openalex.org/W4226395607","https://openalex.org/W4283214228","https://openalex.org/W4283450732","https://openalex.org/W4285600307","https://openalex.org/W4290981008","https://openalex.org/W4293165901","https://openalex.org/W4295312788","https://openalex.org/W4300039011","https://openalex.org/W4312560592","https://openalex.org/W4312603774","https://openalex.org/W4312820606","https://openalex.org/W4312998770","https://openalex.org/W6766978945","https://openalex.org/W6797399245","https://openalex.org/W6808531172"],"related_works":["https://openalex.org/W3139034309","https://openalex.org/W2770042457","https://openalex.org/W1992962589","https://openalex.org/W2789392837","https://openalex.org/W3032871857","https://openalex.org/W805044372","https://openalex.org/W1743191351","https://openalex.org/W43529266","https://openalex.org/W3104633800","https://openalex.org/W2115635740"],"abstract_inverted_index":{"Planetary":[0],"rover":[1],"systems":[2],"need":[3],"to":[4,8,41,60,180],"perform":[5],"terrain":[6,87,104],"segmentation":[7,88,105],"identify":[9],"feasible":[10],"driving":[11],"areas":[12],"and":[13,32,51,71,84,125,146,169,184,191],"surround":[14],"obstacles,":[15],"which":[16],"falls":[17],"into":[18],"the":[19,42,66,110,113,120,132,135,147,160,175,188,195],"research":[20],"area":[21],"of":[22,68,197],"semantic":[23,37],"segmentation.":[24,38],"Recently,":[25],"deep":[26],"learning":[27],"(DL)-based":[28],"methods":[29],"were":[30],"proposed":[31,161,176],"achieved":[33],"great":[34],"performance":[35],"for":[36,93],"However,":[39],"due":[40],"on-board":[43,94],"processor":[44],"platform\u2019s":[45],"strict":[46],"comstraints":[47],"on":[48,63,163,187],"computational":[49],"complexity":[50],"power":[52],"consumption,":[53],"existing":[54],"DL":[55],"approaches":[56],"are":[57,91],"almost":[58],"impossible":[59],"be":[61],"deployed":[62],"satellites":[64],"under":[65,194],"burden":[67],"extensive":[69],"computation":[70],"large":[72],"model":[73],"size.":[74],"To":[75],"fill":[76],"this":[77,79,97],"gap,":[78],"paper":[80],"targeted":[81],"studying":[82],"effective":[83],"efficient":[85],"Martian":[86],"solutions":[89],"that":[90,174],"suitable":[92],"satellites.":[95],"In":[96,109,131],"article,":[98],"we":[99,158],"propose":[100],"a":[101],"lightweight":[102],"ViT-based":[103],"method,":[106],"namely,":[107],"SegMarsViT.":[108],"encoder":[111],"part,":[112,134],"mobile":[114],"vision":[115],"transformer":[116],"(MViT)":[117],"block":[118],"in":[119],"backbone":[121],"extracts":[122],"local\u2013global":[123],"spatial":[124],"captures":[126],"multiscale":[127],"contextual":[128],"information":[129,145],"concurrently.":[130],"decoder":[133],"cross-scale":[136],"feature":[137,149,155],"fusion":[138],"modules":[139],"(CFF)":[140],"further":[141],"integrate":[142],"hierarchical":[143],"context":[144],"compact":[148],"aggregation":[150],"module":[151],"(CFA)":[152],"combines":[153],"multi-level":[154],"representation.":[156],"Moreover,":[157],"evaluate":[159],"method":[162],"three":[164],"public":[165],"datasets:":[166],"AI4Mars,":[167],"MSL-Seg,":[168,190],"S5Mars.":[170],"Extensive":[171],"experiments":[172],"demonstrate":[173],"SegMarsViT":[177],"was":[178],"able":[179],"achieve":[181],"68.4%,":[182],"78.22%,":[183],"67.28%":[185],"mIoU":[186],"AI4Mars-MSL,":[189],"S5Mars,":[192],"respectively,":[193],"speed":[196],"69.52":[198],"FPS.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":5}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2022-12-25T00:00:00"}