{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T14:41:38Z","timestamp":1782830498168,"version":"3.54.5"},"publisher-location":"Cham","reference-count":30,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783319673608","type":"print"},{"value":"9783319673615","type":"electronic"}],"license":[{"start":{"date-parts":[[2017,11,3]],"date-time":"2017-11-03T00:00:00Z","timestamp":1509667200000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2018]]},"DOI":"10.1007\/978-3-319-67361-5_22","type":"book-chapter","created":{"date-parts":[[2017,11,2]],"date-time":"2017-11-02T07:48:31Z","timestamp":1509608911000},"page":"335-350","source":"Crossref","is-referenced-by-count":174,"title":["Real-Time Semantic Mapping for Autonomous Off-Road Navigation"],"prefix":"10.1007","author":[{"given":"Daniel","family":"Maturana","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Po-Wei","family":"Chou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Masashi","family":"Uenoyama","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sebastian","family":"Scherer","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2017,11,3]]},"reference":[{"key":"22_CR1","unstructured":"Badrinarayanan, V., Handa, A., Cipolla, R.: SegNet: a deep convolutional encoder-decoder architecture for robust semantic pixel-wise labelling (2015). arXiv:1505.07293"},{"issue":"1","key":"22_CR2","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1002\/rob.20269","volume":"26","author":"M Bajracharya","year":"2009","unstructured":"Bajracharya, M., Howard, A., Matthies, L.H., Tang, B., Turmon, M.: Autonomous off-road navigation with end-to-end learning for the lagr program. J. Field Robot. 26(1), 3\u201325 (2009)","journal-title":"J. Field Robot."},{"key":"22_CR3","doi-asserted-by":"crossref","unstructured":"Bergstra, J., Breuleux, O., Bastien, F., Lamblin, P., Pascanu, R., Desjardins, G., Turian, J., Warde-Farley, D., Bengio, Y.: Theano: a CPU and GPU math expression compiler. In: SciPy (2010)","DOI":"10.25080\/Majora-92bf1922-003"},{"key":"22_CR4","unstructured":"Chatfield, K., Simonyan, K., Vedaldi, A., Zisserman, A.: Return of the devil in the details: delving deep into convolutional nets. CoRR (2014). arXiv:1405.3531"},{"key":"22_CR5","doi-asserted-by":"crossref","unstructured":"Cordts, M., Omran, M., Ramos, S., Rehfeld, T., Enzweiler, M., Benenson, R., Franke, U., Roth, S., Schiele, B.: The cityscapes dataset for semantic urban scene understanding. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) (2016)","DOI":"10.1109\/CVPR.2016.350"},{"key":"22_CR6","unstructured":"Dieleman, S., Schluter, J., Raffel, C., Olson, E., Sonderby, S.K., Nouri, D., et\u00a0al.: Lasagne: first release (2015). https:\/\/doi.org\/10.5281\/zenodo.27878"},{"key":"22_CR7","doi-asserted-by":"crossref","unstructured":"Fujimori, T., Kanade, T.: An approach to knowledge-based interpretation of outdoor natural color road scenes. In: Vision and Navigation: The Carnegie Mellon Navlab, pp. 39\u201381 (1990)","DOI":"10.1007\/978-1-4613-1533-9_4"},{"issue":"8","key":"22_CR8","first-page":"981","volume":"29","author":"R Hadsell","year":"2010","unstructured":"Hadsell, R., Bagnell, J.A., Huber, D., Hebert, M.: Non-stationary space-carving kernels for accurate rough terrain estimation. IJRR 29(8), 981\u2013996 (2010)","journal-title":"IJRR"},{"key":"22_CR9","doi-asserted-by":"crossref","unstructured":"Hadsell, R., Erkan, A., Sermanet, P., Scoffier, M., Muller, U.: Deep belief net learning in a long-range vision system for autonomous off-road driving. In: 2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems, vol. 1(1), pp. 628\u2013633 (2008)","DOI":"10.1109\/IROS.2008.4651217"},{"key":"22_CR10","unstructured":"He, K., Zhang, X., Ren, S., Sun, J.: Spatial pyramid pooling in deep convolutional networks for visual recognition. CoRR (2014). arXiv:1406.4729"},{"issue":"11\u201312","key":"22_CR11","doi-asserted-by":"crossref","first-page":"945","DOI":"10.1002\/rob.20161","volume":"23","author":"LD Jackel","year":"2006","unstructured":"Jackel, L.D., Krotkov, E., Perschbacher, M., Pippine, J., Sullivan, C.: The DARPA LAGR program: goals, challenges, methodology, and phase i results. J. Field Robot. 23(11\u201312), 945\u2013973 (2006)","journal-title":"J. Field Robot."},{"issue":"5\u20136","key":"22_CR12","doi-asserted-by":"crossref","first-page":"449","DOI":"10.1177\/0278364906065543","volume":"25","author":"A Kelly","year":"2006","unstructured":"Kelly, A., Stentz, A.T., Amidi, O., Bode, M.W., Bradley, D., Diaz-Calderon, A., Happold, M., Herman, H., Mandelbaum, R., Pilarski, T., Rander, P., Thayer, S., Vallidis, N.M., Warner, R.: Toward reliable off road autonomous vehicles operating in challenging environments. Int. J. Robot. Res. 25(5\u20136), 449\u2013483 (2006)","journal-title":"Int. J. Robot. Res."},{"key":"22_CR13","unstructured":"Kim, D., Oh, S.M., Rehg, J.M.: Traversability classification for UGV navigation: a comparison of patch and superpixel representations. In: IEEE International Conference on Intelligent Robots and Systems, pp. 3166\u20133173 (2007)"},{"key":"22_CR14","doi-asserted-by":"crossref","unstructured":"Kim, D.K., Maturana, D., Uenoyama, M., Scherer, S.: Season-invariant semantic segmentation with a deep multimodal network. In: FSR (2017)","DOI":"10.1007\/978-3-319-67361-5_17"},{"key":"22_CR15","unstructured":"Kr\u00e4henb\u00fchl, P., Koltun, V.: Efficient inference in fully connected crfs with gaussian edge potentials. CoRR (2012). arXiv:1210.5644"},{"key":"22_CR16","doi-asserted-by":"crossref","unstructured":"Long, J., Shelhamer, E., Darrell, T.: Fully convolutional networks for semantic segmentation. In: IEEE Conference on Computer Vision and Pattern Recognition (CVPR) (2015)","DOI":"10.1109\/CVPR.2015.7298965"},{"issue":"1","key":"22_CR17","doi-asserted-by":"crossref","first-page":"81","DOI":"10.1023\/B:AURO.0000047286.62481.1d","volume":"18","author":"R Manduchi","year":"2005","unstructured":"Manduchi, R., Castano, A., Talukder, A., Matthies, L.: Obstacle detection and terrain classification for autonomous off-road navigation. Auton. Robots 18(1), 81\u2013102 (2005)","journal-title":"Auton. Robots"},{"key":"22_CR18","doi-asserted-by":"crossref","unstructured":"Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. In: International Conference on Robotics and Automation (ICRA) (1985)","DOI":"10.1109\/ROBOT.1985.1087316"},{"key":"22_CR19","unstructured":"Noh, H., Hong, S., Han, B.: Learning deconvolution network for semantic segmentation. CoRR (2015). arXiv:1505.04366"},{"key":"22_CR20","doi-asserted-by":"crossref","unstructured":"Procopio, M.J., Kegelmeyer, W.P., Grudic, G.: Terrain segmentation with on-line mixtures of experts for autonomous robot navigation. Image. Rochester, N.Y., pp. 385\u2013397 (2009)","DOI":"10.1007\/978-3-642-02326-2_39"},{"key":"22_CR21","unstructured":"Redmon, J.: Darknet: open source neural networks in c. http:\/\/pjreddie.com\/darknet\/ (2013\u20132016)"},{"key":"22_CR22","unstructured":"Simonyan, K., Zisserman, A.: Very deep convolutional networks for large-scale image recognition. CoRR (2014). arXiv:1409.1556"},{"key":"22_CR23","doi-asserted-by":"crossref","unstructured":"Suleymanov, T., Paz, L.M., Pinis, P., Hester, G., Newman, P.: The path less taken: a fast variational approach for scene segmentation used for closed loop control. In: 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3620\u20133626 (2016)","DOI":"10.1109\/IROS.2016.7759533"},{"key":"22_CR24","doi-asserted-by":"crossref","unstructured":"Thrun, S., Montemerlo, M., Dahlkamp, H., Stavens, D., Aron, A., Diebel, J., Fong, P., Gale, J., Halpenny, M., Hoffmann, G., Lau, K., Oakley, C., Palatucci, M., Pratt, V., Stang, P., Strohband, S., Dupont, C., Jendrossek, L.E., Koelen, C., Markey, C., Rummel, C., van Niekerk, J., Jensen, E., Alessandrini, P., Bradski, G., Davies, B., Ettinger, S., Kaehler, A., Nefian, A., Mahoney, P.: Winning the DARPA grand challenge. J. Field Robot. (2006)","DOI":"10.1002\/rob.20147"},{"key":"22_CR25","doi-asserted-by":"crossref","unstructured":"Valada, A., Olivera, G.L., Brox, T., Burgard, W.: Deep multispectral semantic scene understanding of forested environments. In: Proceedings of the 2016 International Symposium on Experimental Robotics (ISER) (2016)","DOI":"10.1007\/978-3-319-50115-4_41"},{"key":"22_CR26","doi-asserted-by":"crossref","unstructured":"Vernaza, P., Taskar, B., Lee, D.D.: Online, self-supervised terrain classification via discriminatively trained submodular Markov random fields. In: 2008 IEEE International Conference on Robotics and Automation, pp. 2750\u20132757. IEEE (2008)","DOI":"10.1109\/ROBOT.2008.4543627"},{"issue":"12","key":"22_CR27","doi-asserted-by":"crossref","first-page":"1287","DOI":"10.1177\/0278364906072769","volume":"25","author":"C Wellington","year":"2006","unstructured":"Wellington, C., Courville, A., Stentz, A.: A generative model of terrain for autonomous navigation in vegetation. Int. J. Robot. Res. 25(12), 1287\u20131304 (2006)","journal-title":"Int. J. Robot. Res."},{"issue":"2","key":"22_CR28","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1109\/TRO.2008.917001","volume":"24","author":"DF Wolf","year":"2008","unstructured":"Wolf, D.F., Sukhatme, G.S.: Semantic mapping using mobile robots. IEEE Trans. Robot. 24(2), 245\u2013258 (2008)","journal-title":"IEEE Trans. Robot."},{"key":"22_CR29","unstructured":"Yu, F., Koltun, V.: Multi-scale context aggregation by dilated convolutions. CoRR (2015). arXiv:1511.07122"},{"issue":"2","key":"22_CR30","doi-asserted-by":"crossref","first-page":"277","DOI":"10.1002\/rob.21417","volume":"29","author":"S Zhou","year":"2012","unstructured":"Zhou, S., Xi, J., McDaniel, M.W., Nishihata, T., Salesses, P., Iagnemma, K.: Self-supervised learning to visually detect terrain surfaces for autonomous robots operating in forested terrain. J. Field Robot. 29(2), 277\u2013297 (2012)","journal-title":"J. Field Robot."}],"container-title":["Springer Proceedings in Advanced Robotics","Field and Service Robotics"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-67361-5_22","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,10,21]],"date-time":"2020-10-21T00:02:16Z","timestamp":1603238536000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-319-67361-5_22"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,11,3]]},"ISBN":["9783319673608","9783319673615"],"references-count":30,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-67361-5_22","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"value":"2511-1256","type":"print"},{"value":"2511-1264","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,11,3]]}}}