{"id":"https://openalex.org/W4386555978","doi":"https://doi.org/10.48550/arxiv.2309.02745","title":"Learning Vehicle Dynamics from Cropped Image Patches for Robot Navigation in Unpaved Outdoor Terrains","display_name":"Learning Vehicle Dynamics from Cropped Image Patches for Robot Navigation in Unpaved Outdoor Terrains","publication_year":2023,"publication_date":"2023-09-06","ids":{"openalex":"https://openalex.org/W4386555978","doi":"https://doi.org/10.48550/arxiv.2309.02745"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2309.02745","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2309.02745","pdf_url":"https://arxiv.org/pdf/2309.02745","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2309.02745","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5106403872","display_name":"Jeong Hyun Lee","orcid":"https://orcid.org/0000-0001-6598-2875"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Jeong Hyun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106407487","display_name":"Jinhyeok Choi","orcid":"https://orcid.org/0009-0005-9489-0060"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Choi, Jinhyeok","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053270768","display_name":"Simo Ryu","orcid":"https://orcid.org/0009-0008-0017-2677"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ryu, Simo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051505949","display_name":"Hyunsik Oh","orcid":"https://orcid.org/0009-0009-8907-3671"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oh, Hyunsik","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059295255","display_name":"Suyoung Choi","orcid":"https://orcid.org/0000-0002-3116-1072"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Choi, Suyoung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5080397455","display_name":"Jemin Hwangbo","orcid":"https://orcid.org/0000-0002-3444-8079"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hwangbo, Jemin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.996399998664856,"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":0.9929999709129333,"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-vision","display_name":"Computer vision","score":0.7445291876792908},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7154136896133423},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6634379625320435},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6610983610153198},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6502737998962402},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6282967329025269},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5718175172805786},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49917054176330566},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4966772198677063},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4849817752838135},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4728180170059204},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4360661506652832},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4273056983947754},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.4241715967655182},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.41880136728286743},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2038545310497284},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17734956741333008},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16411429643630981},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12251007556915283}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7445291876792908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7154136896133423},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6634379625320435},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6610983610153198},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6502737998962402},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6282967329025269},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5718175172805786},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49917054176330566},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4966772198677063},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4849817752838135},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4728180170059204},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4360661506652832},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4273056983947754},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4241715967655182},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.41880136728286743},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2038545310497284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17734956741333008},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16411429643630981},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12251007556915283},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2309.02745","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2309.02745","pdf_url":"https://arxiv.org/pdf/2309.02745","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2309.02745","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2309.02745","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2309.02745","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2309.02745","pdf_url":"https://arxiv.org/pdf/2309.02745","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5099999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323103","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386555978.pdf","grobid_xml":"https://content.openalex.org/works/W4386555978.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4285089922","https://openalex.org/W2045732777","https://openalex.org/W2113164274","https://openalex.org/W2093507260","https://openalex.org/W2132444301","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2157678966"],"abstract_inverted_index":{"In":[0,62],"the":[1,19,75,81,101,106,116,129],"realm":[2],"of":[3,22,115,131],"autonomous":[4],"mobile":[5,123],"robots,":[6],"safe":[7,144],"navigation":[8,135,147],"through":[9],"unpaved":[10,138,153],"outdoor":[11,139,154],"environments":[12],"remains":[13],"a":[14,29],"challenging":[15,152],"task.":[16],"Due":[17],"to":[18,96],"high-dimensional":[20],"nature":[21],"sensor":[23],"data,":[24],"extracting":[25,46],"relevant":[26],"information":[27],"becomes":[28],"complex":[30],"problem,":[31],"which":[32,68],"hinders":[33],"adequate":[34],"perception":[35],"and":[36,79,85,145],"path":[37],"planning.":[38],"Previous":[39],"works":[40],"have":[41],"shown":[42],"promising":[43],"performances":[44],"in":[45,57,105,136,151],"global":[47],"features":[48],"from":[49],"full-sized":[50],"images.":[51],"However,":[52],"they":[53],"often":[54],"face":[55],"challenges":[56],"capturing":[58],"essential":[59],"local":[60,90],"information.":[61],"this":[63],"paper,":[64],"we":[65,127],"propose":[66],"Crop-LSTM,":[67],"iteratively":[69],"takes":[70],"cropped":[71],"image":[72,98,108],"patches":[73,99],"around":[74],"current":[76],"robot's":[77,117],"position":[78],"predicts":[80],"future":[82,118],"position,":[83],"orientation,":[84],"bumpiness.":[86],"Our":[87,141],"method":[88,142],"performs":[89],"feature":[91],"extraction":[92],"by":[93],"paying":[94],"attention":[95],"corresponding":[97],"along":[100],"predicted":[102],"robot":[103,124],"trajectory":[104],"2D":[107],"plane.":[109],"This":[110],"enables":[111],"more":[112],"accurate":[113],"predictions":[114],"trajectory.":[119],"With":[120],"our":[121],"wheeled":[122],"platform":[125],"Raicart,":[126],"demonstrated":[128],"effectiveness":[130],"Crop-LSTM":[132],"for":[133],"point-goal":[134],"an":[137],"environment.":[140],"enabled":[143],"robust":[146],"using":[148],"RGBD":[149],"images":[150],"terrains.":[155],"The":[156],"summary":[157],"video":[158],"is":[159],"available":[160],"at":[161],"https://youtu.be/iIGNZ8ignk0.":[162]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2023-09-09T00:00:00"}
