{"id":"https://openalex.org/W7140096148","doi":"https://doi.org/10.48550/arxiv.2603.20121","title":"Not an Obstacle for Dog, but a Hazard for Human: A Co-Ego Navigation System for Guide Dog Robots","display_name":"Not an Obstacle for Dog, but a Hazard for Human: A Co-Ego Navigation System for Guide Dog Robots","publication_year":2026,"publication_date":"2026-03-20","ids":{"openalex":"https://openalex.org/W7140096148","doi":"https://doi.org/10.48550/arxiv.2603.20121"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.20121","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.20121","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.20121","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130370739","display_name":"Ruiping Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Liu, Ruiping","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhang, Jingqi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jingqi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130358286","display_name":"Junwei Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Junwei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130398556","display_name":"Yufan Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yufan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009612965","display_name":"P. Lee","orcid":"https://orcid.org/0000-0002-4262-0430"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Peter Seungjune","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130408496","display_name":"Di Wen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen, Di","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130374220","display_name":"Kunyu Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Kunyu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130367219","display_name":"Jiaming Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jiaming","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130397538","display_name":"Kailun Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Kailun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042406934","display_name":"Katja Mombaur","orcid":"https://orcid.org/0000-0003-1353-0943"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mombaur, Katja","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5087051920","display_name":"Rainer Stiefelhagen","orcid":"https://orcid.org/0000-0001-8046-4945"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stiefelhagen, Rainer","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5130370739"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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/T11214","display_name":"Human-Animal Interaction Studies","score":0.3000999987125397,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T11214","display_name":"Human-Animal Interaction Studies","score":0.3000999987125397,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.18299999833106995,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.1753000020980835,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/obstacle","display_name":"Obstacle","score":0.7394000291824341},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6251000165939331},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.5449000000953674},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5346999764442444},{"id":"https://openalex.org/keywords/hazard","display_name":"Hazard","score":0.4553999900817871},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4494999945163727},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4251999855041504},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.3921000063419342}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7394000291824341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6251000165939331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5817999839782715},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.5449000000953674},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5346999764442444},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4781999886035919},{"id":"https://openalex.org/C49261128","wikidata":"https://www.wikidata.org/wiki/Q1132455","display_name":"Hazard","level":2,"score":0.4553999900817871},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4494999945163727},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4251999855041504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39660000801086426},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.3921000063419342},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.38830000162124634},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37709999084472656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3725000023841858},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.36809998750686646},{"id":"https://openalex.org/C35651441","wikidata":"https://www.wikidata.org/wiki/Q625303","display_name":"Independence (probability theory)","level":2,"score":0.34299999475479126},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3084999918937683},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.29739999771118164},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.2874000072479248},{"id":"https://openalex.org/C2986342778","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Cognitive systems","level":3,"score":0.2865999937057495},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.28439998626708984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28029999136924744},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C201004817","wikidata":"https://www.wikidata.org/wiki/Q1707071","display_name":"Guidance system","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.20121","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.20121","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.20121","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.20121","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Guide":[0],"dogs":[1,26],"offer":[2],"independence":[3],"to":[4,53,78,103],"Blind":[5],"and":[6,73,132,144],"Low-Vision":[7],"(BLV)":[8],"individuals,":[9],"yet":[10,56],"their":[11],"limited":[12],"availability":[13],"leaves":[14],"the":[15,37,54,69,75,93,98,113,148],"vast":[16],"majority":[17],"of":[18,47,150],"BLV":[19],"users":[20],"without":[21],"access.":[22],"Quadruped":[23],"robotic":[24,155],"guide":[25,156],"present":[27,74],"a":[28,44,86,110,118],"promising":[29],"alternative,":[30],"but":[31],"existing":[32],"systems":[33],"rely":[34],"solely":[35],"on":[36,109],"robot's":[38],"ground-level":[39],"sensors":[40],"for":[41,153],"navigation,":[42],"overlooking":[43],"critical":[45],"class":[46],"hazards:":[48],"obstacles":[49],"that":[50,91,137],"are":[51],"transparent":[52],"robot":[55],"dangerous":[57],"at":[58],"human":[59],"body":[60],"height,":[61],"such":[62],"as":[63],"bent":[64],"branches.":[65],"We":[66],"term":[67],"this":[68],"viewpoint":[70,151],"asymmetry":[71],"problem":[72],"first":[76],"system":[77,84,114],"explicitly":[79],"address":[80],"it.":[81],"Our":[82],"Co-Ego":[83],"adopts":[85],"dual-branch":[87],"obstacle":[88],"avoidance":[89],"framework":[90],"integrates":[92],"robot-centric":[94],"ground":[95],"sensing":[96],"with":[97,122],"user's":[99],"elevated":[100],"egocentric":[101],"perspective":[102],"ensure":[104],"comprehensive":[105],"navigation":[106],"safety.":[107],"Deployed":[108],"quadruped":[111],"robot,":[112],"is":[115],"evaluated":[116],"in":[117],"controlled":[119],"user":[120],"study":[121],"sighted":[123],"participants":[124],"under":[125],"blindfold":[126],"across":[127],"three":[128],"conditions:":[129],"unassisted,":[130],"single-view,":[131],"cross-view":[133,138],"fusion.":[134],"Results":[135],"demonstrate":[136],"fusion":[139],"significantly":[140],"reduces":[141],"collision":[142],"times":[143],"cognitive":[145],"load,":[146],"verifying":[147],"necessity":[149],"complementarity":[152],"safe":[154],"dog":[157],"navigation.":[158]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2026-03-24T00:00:00"}