{"id":"https://openalex.org/W4321373294","doi":"https://doi.org/10.3390/s23042337","title":"Deep-Learning-Based Context-Aware Multi-Level Information Fusion Systems for Indoor Mobile Robots Safe Navigation","display_name":"Deep-Learning-Based Context-Aware Multi-Level Information Fusion Systems for Indoor Mobile Robots Safe Navigation","publication_year":2023,"publication_date":"2023-02-20","ids":{"openalex":"https://openalex.org/W4321373294","doi":"https://doi.org/10.3390/s23042337","pmid":"https://pubmed.ncbi.nlm.nih.gov/36850936"},"language":"en","primary_location":{"id":"doi:10.3390/s23042337","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23042337","pdf_url":"https://www.mdpi.com/1424-8220/23/4/2337/pdf?version=1676888252","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/1424-8220/23/4/2337/pdf?version=1676888252","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112337544","display_name":"Yin Jia","orcid":"https://orcid.org/0009-0003-1115-7038"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yin Jia","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057929288","display_name":"Balakrishnan Ramalingam","orcid":"https://orcid.org/0000-0002-3243-9814"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Balakrishnan Ramalingam","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-3243-9814","affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041057723","display_name":"Mohan Rajesh Elara","orcid":"https://orcid.org/0000-0001-6504-1530"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Rajesh Elara Mohan","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6504-1530","affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028342635","display_name":"Zhenyuan Yang","orcid":"https://orcid.org/0000-0003-1819-2701"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhenyuan Yang","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-1819-2701","affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050533467","display_name":"Zimou Zeng","orcid":"https://orcid.org/0000-0002-7869-7026"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zimou Zeng","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023835965","display_name":"Prabakaran Veerajagadheswar","orcid":"https://orcid.org/0000-0002-5612-2619"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Prabakaran Veerajagadheswar","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5057929288"],"corresponding_institution_ids":["https://openalex.org/I152815399"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.1582,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.80058922,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"23","issue":"4","first_page":"2337","last_page":"2337"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9926999807357788,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9850000143051147,"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/mobile-robot","display_name":"Mobile robot","score":0.7140709161758423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.709877610206604},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6884719133377075},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6589667797088623},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6355268955230713},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5871473550796509},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5580480694770813},{"id":"https://openalex.org/keywords/hazardous-waste","display_name":"Hazardous waste","score":0.5162739753723145},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.47959601879119873},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.46518367528915405},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.43870583176612854},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.333766371011734},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2779430150985718},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.19009965658187866},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07699313759803772}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7140709161758423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.709877610206604},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6884719133377075},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6589667797088623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6355268955230713},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5871473550796509},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5580480694770813},{"id":"https://openalex.org/C22507642","wikidata":"https://www.wikidata.org/wiki/Q1069369","display_name":"Hazardous waste","level":2,"score":0.5162739753723145},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47959601879119873},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.46518367528915405},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.43870583176612854},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.333766371011734},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2779430150985718},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.19009965658187866},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07699313759803772},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23042337","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23042337","pdf_url":"https://www.mdpi.com/1424-8220/23/4/2337/pdf?version=1676888252","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:36850936","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36850936","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:pubmedcentral.nih.gov:9966670","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9966670","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"},{"id":"pmh:oai:doaj.org/article:1624ec5746d740e39663cf4bbb6751f6","is_oa":true,"landing_page_url":"https://doaj.org/article/1624ec5746d740e39663cf4bbb6751f6","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 23, Iss 4, p 2337 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/4/2337/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23042337","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"}],"best_oa_location":{"id":"doi:10.3390/s23042337","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23042337","pdf_url":"https://www.mdpi.com/1424-8220/23/4/2337/pdf?version=1676888252","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320696","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4321373294.pdf"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W2027528442","https://openalex.org/W2078566703","https://openalex.org/W2088439981","https://openalex.org/W2097832540","https://openalex.org/W2110811457","https://openalex.org/W2113533895","https://openalex.org/W2134156429","https://openalex.org/W2285354657","https://openalex.org/W2478609746","https://openalex.org/W2737759620","https://openalex.org/W2765823242","https://openalex.org/W2773581635","https://openalex.org/W2887522866","https://openalex.org/W2895403383","https://openalex.org/W2896728889","https://openalex.org/W2899341487","https://openalex.org/W2933871163","https://openalex.org/W2942619905","https://openalex.org/W2952796106","https://openalex.org/W2963093690","https://openalex.org/W2963237621","https://openalex.org/W2970612813","https://openalex.org/W2989998028","https://openalex.org/W2997592810","https://openalex.org/W3001075632","https://openalex.org/W3004278903","https://openalex.org/W3011688828","https://openalex.org/W3021999445","https://openalex.org/W3034973071","https://openalex.org/W3035618398","https://openalex.org/W3080247679","https://openalex.org/W3097996169","https://openalex.org/W3134194416","https://openalex.org/W3175865716","https://openalex.org/W3183977782","https://openalex.org/W3194344376","https://openalex.org/W3211551288","https://openalex.org/W4297196232","https://openalex.org/W4312303763","https://openalex.org/W4312526185","https://openalex.org/W6770193221"],"related_works":["https://openalex.org/W1503780849","https://openalex.org/W164591511","https://openalex.org/W2968920050","https://openalex.org/W1540139279","https://openalex.org/W1567845959","https://openalex.org/W2949096641","https://openalex.org/W2970686063","https://openalex.org/W4320729701","https://openalex.org/W3034745255","https://openalex.org/W4254103348"],"abstract_inverted_index":{"Hazardous":[0],"object":[1,21,44,93,111,121,144,161,202,211],"detection":[2,49,122,158,217],"(escalators,":[3],"stairs,":[4],"glass":[5],"doors,":[6],"etc.)":[7],"and":[8,31,35,81,103,118,149,160,177,199,213],"avoidance":[9],"are":[10],"critical":[11],"functional":[12],"safety":[13,59],"modules":[14],"for":[15,26,61,74],"autonomous":[16,75],"mobile":[17,62,76,184],"cleaning":[18,77,185],"robots.":[19,63],"Conventional":[20],"detectors":[22],"have":[23,32],"less":[24],"accuracy":[25,218],"detecting":[27],"low-feature":[28],"hazardous":[29,54,83,120,135,143,201],"objects":[30,55,84],"miss":[33],"detection,":[34],"the":[36,43,92,98,106,116,139,142,146,151,193,197,209],"false":[37,51],"classification":[38,52],"ratio":[39],"is":[40,45,94],"high":[41],"when":[42],"under":[46,95],"occlusion.":[47,96],"Miss":[48],"or":[50],"of":[53,141,219],"poses":[56],"an":[57,124,182,215],"operational":[58],"issue":[60],"This":[64],"work":[65],"presents":[66],"a":[67,86,128,154,170,204],"deep-learning-based":[68],"context-aware":[69],"multi-level":[70],"information":[71],"fusion":[72],"framework":[73,166],"robots":[78],"to":[79,114,133],"detect":[80],"avoid":[82,134],"with":[85,105,169,181,203],"higher":[87,205],"confidence":[88,206],"level,":[89],"even":[90],"if":[91],"First,":[97],"image-level-contextual-encoding":[99],"module":[100],"was":[101,131,167],"proposed":[102,132,165,194],"incorporated":[104],"Faster":[107],"RCNN":[108],"ResNet":[109],"50":[110],"detector":[112,212],"model":[113],"improve":[115],"low-featured":[117,198],"occluded":[119,200],"in":[123,179],"indoor":[125],"environment.":[126],"Further,":[127],"safe-distance-estimation":[129],"function":[130],"objects.":[136],"It":[137],"computes":[138],"distance":[140],"from":[145],"robot's":[147],"position":[148],"steers":[150],"robot":[152],"into":[153],"safer":[155],"zone":[156],"using":[157,174],"results":[159,190],"depth":[162],"data.":[163],"The":[164,188],"trained":[168],"custom":[171],"image":[172],"dataset":[173],"fine-tuning":[175],"techniques":[176],"tested":[178],"real-time":[180],"in-house-developed":[183],"robot,":[186],"BELUGA.":[187],"experimental":[189],"show":[191],"that":[192],"algorithm":[195],"detected":[196],"level":[207],"than":[208],"conventional":[210],"scored":[214],"average":[216],"88.71%.":[220]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}