{"id":"https://openalex.org/W2962932805","doi":"https://doi.org/10.3390/s19143224","title":"SemanticDepth: Fusing Semantic Segmentation and Monocular Depth Estimation for Enabling Autonomous Driving in Roads without Lane Lines","display_name":"SemanticDepth: Fusing Semantic Segmentation and Monocular Depth Estimation for Enabling Autonomous Driving in Roads without Lane Lines","publication_year":2019,"publication_date":"2019-07-22","ids":{"openalex":"https://openalex.org/W2962932805","doi":"https://doi.org/10.3390/s19143224","mag":"2962932805","pmid":"https://pubmed.ncbi.nlm.nih.gov/31336666"},"language":"en","primary_location":{"id":"doi:10.3390/s19143224","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19143224","pdf_url":"https://www.mdpi.com/1424-8220/19/14/3224/pdf?version=1563801012","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/14/3224/pdf?version=1563801012","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058178088","display_name":"Pablo Palafox","orcid":"https://orcid.org/0000-0002-5944-0938"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Pablo R. Palafox","raw_affiliation_strings":["Institute of Automotive Technology, Technical University of Munich, Boltzmannstr. 15, 85748 Garching bei M\u00fcnchen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5944-0938","affiliations":[{"raw_affiliation_string":"Institute of Automotive Technology, Technical University of Munich, Boltzmannstr. 15, 85748 Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063677428","display_name":"Johannes Betz","orcid":"https://orcid.org/0000-0001-9197-2849"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Betz","raw_affiliation_strings":["Institute of Automotive Technology, Technical University of Munich, Boltzmannstr. 15, 85748 Garching bei M\u00fcnchen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9197-2849","affiliations":[{"raw_affiliation_string":"Institute of Automotive Technology, Technical University of Munich, Boltzmannstr. 15, 85748 Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080397655","display_name":"Felix Nobis","orcid":"https://orcid.org/0000-0001-6939-7315"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Nobis","raw_affiliation_strings":["Institute of Automotive Technology, Technical University of Munich, Boltzmannstr. 15, 85748 Garching bei M\u00fcnchen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6939-7315","affiliations":[{"raw_affiliation_string":"Institute of Automotive Technology, Technical University of Munich, Boltzmannstr. 15, 85748 Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103262580","display_name":"Konstantin Riedl","orcid":"https://orcid.org/0000-0001-6646-0585"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Konstantin Riedl","raw_affiliation_strings":["Institute of Automotive Technology, Technical University of Munich, Boltzmannstr. 15, 85748 Garching bei M\u00fcnchen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6646-0585","affiliations":[{"raw_affiliation_string":"Institute of Automotive Technology, Technical University of Munich, Boltzmannstr. 15, 85748 Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079718896","display_name":"Markus Lienkamp","orcid":"https://orcid.org/0000-0002-9263-5323"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Lienkamp","raw_affiliation_strings":["Institute of Automotive Technology, Technical University of Munich, Boltzmannstr. 15, 85748 Garching bei M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automotive Technology, Technical University of Munich, Boltzmannstr. 15, 85748 Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5058178088"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":1479,"currency":"EUR","value_usd":1595},"fwci":1.2189,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.83468485,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"19","issue":"14","first_page":"3224","last_page":"3224"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994999766349792,"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/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/T10531","display_name":"Advanced Vision and Imaging","score":0.9955000281333923,"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/monocular","display_name":"Monocular","score":0.7526073455810547},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7288824915885925},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6537842750549316},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6125543713569641},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5985177755355835},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5422878861427307},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5375985503196716},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22067654132843018},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08077803254127502}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7526073455810547},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7288824915885925},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6537842750549316},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6125543713569641},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5985177755355835},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5422878861427307},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5375985503196716},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22067654132843018},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08077803254127502}],"mesh":[],"locations_count":8,"locations":[{"id":"doi:10.3390/s19143224","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19143224","pdf_url":"https://www.mdpi.com/1424-8220/19/14/3224/pdf?version=1563801012","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:31336666","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31336666","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:d2eb36d468e04734820fd329aae4fae0","is_oa":true,"landing_page_url":"https://doaj.org/article/d2eb36d468e04734820fd329aae4fae0","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":"Sensors, Vol 19, Iss 14, p 3224 (2019)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:5649514","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6679503","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/14/3224/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19143224","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":"Sensors","raw_type":"Text"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1520064","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1520064","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1520684","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1520684","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1534186","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1534186","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s19143224","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19143224","pdf_url":"https://www.mdpi.com/1424-8220/19/14/3224/pdf?version=1563801012","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8299999833106995}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2962932805.pdf","grobid_xml":"https://content.openalex.org/works/W2962932805.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W48578105","https://openalex.org/W1562763993","https://openalex.org/W1772650917","https://openalex.org/W1903029394","https://openalex.org/W2031489346","https://openalex.org/W2033819227","https://openalex.org/W2100588357","https://openalex.org/W2104974755","https://openalex.org/W2112796928","https://openalex.org/W2118545852","https://openalex.org/W2138534490","https://openalex.org/W2140880788","https://openalex.org/W2146575011","https://openalex.org/W2163605009","https://openalex.org/W2167510172","https://openalex.org/W2194775991","https://openalex.org/W2259424905","https://openalex.org/W2340897893","https://openalex.org/W2427448504","https://openalex.org/W2520707372","https://openalex.org/W2560023338","https://openalex.org/W2587989515","https://openalex.org/W2740036778","https://openalex.org/W2875385403","https://openalex.org/W2889002172","https://openalex.org/W2897203992","https://openalex.org/W2937261546","https://openalex.org/W2975657702","https://openalex.org/W4206760982","https://openalex.org/W6638039622","https://openalex.org/W6680957696"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W2350093529","https://openalex.org/W2091635186","https://openalex.org/W4381188157","https://openalex.org/W4251947321","https://openalex.org/W2011626633","https://openalex.org/W2037866696"],"abstract_inverted_index":{"Typically,":[0],"lane":[1,7,25,51,155],"departure":[2],"warning":[3],"systems":[4],"rely":[5],"on":[6,11,128,159,224],"lines":[8,26,52,156],"being":[9],"present":[10,29,39,54,109,158,239],"the":[12,47,68,88,96,112,115,120,123,129,138,160,166,176,192,209,213,225,241,244,261],"road.However,":[13],"in":[14,23,253],"many":[15],"scenarios,":[16],"e.g.,":[17],"secondary":[18],"roads":[19],"or":[20,30,105,162,236],"some":[21],"streets":[22,190],"cities,":[24],"are":[27,53,238],"eithernot":[28],"not":[31,164],"sufficiently":[32],"well":[33],"signaled.":[34],"In":[35,216],"this":[36,61],"work,":[37],"we":[38,63,135,218,263],"a":[40,44,71,75,82,126,185,198,254],"vision-based":[41],"method":[42],"tolocate":[43],"vehicle":[45],"within":[46],"road":[48,97,124,161],"when":[49,154],"no":[50,234],"using":[55],"only":[56,91],"RGB":[57],"images":[58,188],"as":[59,137],"input.To":[60],"end,":[62],"propose":[64],"to":[65,79,95,100,144,175],"fuse":[66],"together":[67],"outputs":[69],"of":[70,87,103,114,122,147,187,191,194,228,243,260],"semantic":[72,83],"segmentation":[73],"and":[74,150,212],"monoculardepth":[76],"estimation":[77],"architecture":[78],"reconstruct":[80],"locally":[81],"3D":[84],"point":[85],"cloud":[86],"viewed":[89],"scene.We":[90],"retain":[92],"points":[93],"belonging":[94],"and,":[98,132],"additionally,":[99,133],"any":[101,145],"kind":[102,146],"fences":[104,235],"walls":[106,237],"thatmight":[107],"be":[108,251],"right":[110],"at":[111,125,240],"sides":[113,242],"road.":[116],"We":[117,180],"then":[118],"compute":[119],"width":[121,178,211],"certainpoint":[127],"planned":[130],"trajectory":[131],"what":[134],"denote":[136],"fence-to-fence":[139,171,214],"distance.Our":[140],"system":[141,222,249],"is":[142,151,173],"suited":[143],"motoring":[148],"scenario":[149],"especially":[152],"useful":[153],"arenot":[157],"do":[163],"signal":[165],"path":[167],"correctly.":[168],"The":[169],"additional":[170],"distancecomputation":[172],"complementary":[174],"road's":[177,210],"estimation.":[179],"quantitatively":[181],"test":[182],"our":[183,204,221,248,265],"methodon":[184],"set":[186],"featuring":[189],"city":[193],"Munich":[195],"that":[196,247],"contain":[197],"road-fence":[199],"structure,":[200],"so":[201],"asto":[202],"compare":[203],"two":[205],"proposed":[206],"variants,":[207],"namely":[208],"distancecomputation.":[215],"addition,":[217],"also":[219],"validate":[220],"qualitatively":[223],"Stuttgart":[226],"sequence":[227],"thepublicly":[229],"available":[230],"Cityscapes":[231],"dataset,":[232],"where":[233],"road,thus":[245],"demonstrating":[246],"can":[250],"deployed":[252],"standard":[255],"city-like":[256],"environment.":[257],"For":[258],"thebenefit":[259],"community,":[262],"make":[264],"software":[266],"open":[267],"source.":[268]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-25T08:15:23.626066","created_date":"2025-10-10T00:00:00"}
