{"id":"https://openalex.org/W4214697434","doi":"https://doi.org/10.3390/s22051867","title":"Machine Vision-Based Method for Estimating Lateral Slope of Structured Roads","display_name":"Machine Vision-Based Method for Estimating Lateral Slope of Structured Roads","publication_year":2022,"publication_date":"2022-02-26","ids":{"openalex":"https://openalex.org/W4214697434","doi":"https://doi.org/10.3390/s22051867","pmid":"https://pubmed.ncbi.nlm.nih.gov/35271013"},"language":"en","primary_location":{"id":"doi:10.3390/s22051867","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22051867","pdf_url":"https://www.mdpi.com/1424-8220/22/5/1867/pdf?version=1645875228","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/1424-8220/22/5/1867/pdf?version=1645875228","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062938703","display_name":"Yunbing Yan","orcid":"https://orcid.org/0000-0001-9118-5095"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yunbing Yan","raw_affiliation_strings":["School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan 430065, China"],"raw_orcid":"https://orcid.org/0000-0001-9118-5095","affiliations":[{"raw_affiliation_string":"School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan 430065, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059940100","display_name":"Haiwei Li","orcid":"https://orcid.org/0000-0003-4632-7490"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiwei Li","raw_affiliation_strings":["School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan 430065, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan 430065, China","institution_ids":["https://openalex.org/I43922553"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5062938703"],"corresponding_institution_ids":["https://openalex.org/I43922553"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.3135,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.5203199,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"22","issue":"5","first_page":"1867","last_page":"1867"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9976000189781189,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9976000189781189,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9966999888420105,"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/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/tangent","display_name":"Tangent","score":0.8596532344818115},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.6765199303627014},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5429667234420776},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5291545391082764},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5043267011642456},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4366067945957184},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.42693185806274414},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.42669248580932617},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3478769361972809},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.22570201754570007},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20837187767028809},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.07751905918121338}],"concepts":[{"id":"https://openalex.org/C138187205","wikidata":"https://www.wikidata.org/wiki/Q131251","display_name":"Tangent","level":2,"score":0.8596532344818115},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.6765199303627014},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5429667234420776},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5291545391082764},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5043267011642456},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4366067945957184},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.42693185806274414},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.42669248580932617},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3478769361972809},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.22570201754570007},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20837187767028809},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.07751905918121338},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s22051867","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22051867","pdf_url":"https://www.mdpi.com/1424-8220/22/5/1867/pdf?version=1645875228","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:35271013","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35271013","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:fff4b46ccb564f65a9158a6131a0aac5","is_oa":true,"landing_page_url":"https://doaj.org/article/fff4b46ccb564f65a9158a6131a0aac5","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 22, Iss 5, p 1867 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/5/1867/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22051867","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; Volume 22; Issue 5; Pages: 1867","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8915064","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8915064","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s22051867","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22051867","pdf_url":"https://www.mdpi.com/1424-8220/22/5/1867/pdf?version=1645875228","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","score":0.7099999785423279,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G8285924934","display_name":null,"funder_award_id":"51975428","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1572024925","https://openalex.org/W1914896878","https://openalex.org/W1965522996","https://openalex.org/W1978041546","https://openalex.org/W2006515974","https://openalex.org/W2022738836","https://openalex.org/W2061719276","https://openalex.org/W2067042986","https://openalex.org/W2107751004","https://openalex.org/W2172108268","https://openalex.org/W2368087577","https://openalex.org/W2394392330","https://openalex.org/W2780740184","https://openalex.org/W2890991611","https://openalex.org/W2905113651","https://openalex.org/W2960136332","https://openalex.org/W6712029385"],"related_works":["https://openalex.org/W2078974232","https://openalex.org/W2356676145","https://openalex.org/W2283300813","https://openalex.org/W1496251006","https://openalex.org/W2358939236","https://openalex.org/W2239330273","https://openalex.org/W2093858167","https://openalex.org/W2362115926","https://openalex.org/W2755828466","https://openalex.org/W2371953206"],"abstract_inverted_index":{"Most":[0],"of":[1,13,43,62,78,92,104,119,176],"the":[2,54,59,63,72,76,79,85,89,93,105,110,113,120,128,141,148,154,172,177],"studies":[3,21],"on":[4,11,22,32,48],"vehicle":[5,121,158],"control":[6],"and":[7,58,88,157,174],"stability":[8],"are":[9,19,82,160],"based":[10,47],"cases":[12],"known-road":[14],"lateral":[15,56,107,142],"slope,":[16],"while":[17],"there":[18],"few":[20],"road":[23,55,106,155],"lateral-slope":[24,45],"estimation.":[25],"In":[26,109],"order":[27],"to":[28,71,98,125,134],"provide":[29],"reliable":[30],"information":[31,116],"slope":[33,57,61,91,143],"parameters":[34],"for":[35,165],"subsequent":[36],"studies,":[37],"this":[38],"paper":[39],"provides":[40],"a":[41,100],"method":[42],"structured-road":[44],"estimation":[46,103,149],"machine":[49,126],"vision.":[50],"The":[51,168],"relationship":[52],"between":[53],"tangent":[60,90],"lane":[64,86,94],"line":[65,95],"can":[66],"be":[67],"found":[68],"out":[69],"according":[70,124,133],"image-perspective":[73],"principle;":[74],"then,":[75],"coordinates":[77],"pre-scan":[80],"point":[81],"obtained":[83,123],"by":[84,146,162],"line,":[87],"is":[96,122,131,144],"used":[97],"obtain":[99],"more":[101],"accurate":[102],"slope.":[108],"implementation":[111],"process,":[112],"lane-line":[114,129],"feature":[115],"in":[117],"front":[118],"vision,":[127],"function":[130],"fitted":[132],"an":[135],"SCNN":[136],"(Spatial":[137],"CNN)":[138],"algorithm,":[139],"then":[140],"calculated":[145],"using":[147],"formula":[150],"mentioned":[151],"above.":[152],"Finally,":[153],"model":[156,159],"established":[161],"Prescan":[163],"software":[164],"off-line":[166],"simulation.":[167],"simulation":[169],"results":[170],"verify":[171],"effectiveness":[173],"accuracy":[175],"method.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}