{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T17:41:08Z","timestamp":1777657268153,"version":"3.51.4"},"reference-count":34,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"6","license":[{"start":{"date-parts":[[2025,6,1]],"date-time":"2025-06-01T00:00:00Z","timestamp":1748736000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,6,1]],"date-time":"2025-06-01T00:00:00Z","timestamp":1748736000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,6,1]],"date-time":"2025-06-01T00:00:00Z","timestamp":1748736000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000183","name":"Army Research Office","doi-asserted-by":"publisher","award":["W911NF-21-2-0150"],"award-info":[{"award-number":["W911NF-21-2-0150"]}],"id":[{"id":"10.13039\/100000183","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Department of Defense through the National Defense Science &amp; Engineering Graduate Fellowship Program"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2025,6]]},"DOI":"10.1109\/lra.2025.3563808","type":"journal-article","created":{"date-parts":[[2025,4,22]],"date-time":"2025-04-22T17:42:45Z","timestamp":1745343765000},"page":"6039-6046","source":"Crossref","is-referenced-by-count":3,"title":["Far-Field Image-Based Traversability Mapping for a Priori Unknown Natural Environments"],"prefix":"10.1109","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0944-2991","authenticated-orcid":false,"given":"Ethan","family":"Fahnestock","sequence":"first","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4140-7646","authenticated-orcid":false,"given":"Erick","family":"Fuentes","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4959-7368","authenticated-orcid":false,"given":"Samuel","family":"Prentice","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4681-2410","authenticated-orcid":false,"given":"Vasileios","family":"Vasilopoulos","sequence":"additional","affiliation":[{"name":"Ghost Robotics Corporation, Philadelphia, PA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8266-9848","authenticated-orcid":false,"given":"Philip R","family":"Osteen","sequence":"additional","affiliation":[{"name":"DEVCOM Army Research Laboratory (ARL), Adelphi, MD, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8270-0806","authenticated-orcid":false,"given":"Thomas","family":"Howard","sequence":"additional","affiliation":[{"name":"Department of Electrical Computer Engineering, University of Rochester, Rochester, NY, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8293-0492","authenticated-orcid":false,"given":"Nicholas","family":"Roy","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/AERO.2002.1035370"},{"key":"ref2","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2022.XVIII.019","article-title":"ViKiNG: Vision-based kilometer-scale navigation with geographic hints","volume-title":"Proc. Robot.: Sci. Syst.","author":"Shah","year":"2022"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20169"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20168"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543828"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20279"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9562029"},{"key":"ref8","first-page":"17","article-title":"Online learning for offroad robots: Using spatial label propagation to learn long-range traversability","volume-title":"Proc. Robot.: Sci. Syst. III","author":"Hadsell","year":"2008"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s11633-023-1458-0"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TGRS.2021.3060513"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.55417\/fr.2022049"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910369715"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IV47402.2020.9304721"},{"key":"ref14","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2023.XIX.103","article-title":"TerrainNet: Visual modeling of complex terrain for high-speed, off-road navigation","volume-title":"Proc. Robot.: Sci. Syst.","author":"Meng","year":"2023"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160856"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9982200"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487782"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611055"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341441"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561819"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20332"},{"key":"ref22","article-title":"Learning-on-the-drive: Self-supervised adaptation of visual offroad traversability models","author":"Chen","year":"2023"},{"issue":"9","key":"ref23","article-title":"LOAM: Lidar odometry and mapping in real-time","volume-title":"Proc. Robot.: Sci. Syst.","volume":"2","author":"Zhang","year":"2014"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00365"},{"key":"ref25","first-page":"1","article-title":"DINOV2: Learning robust visual features without supervision","author":"Oquab","year":"2024","journal-title":"Trans. Mach. Learn. Res."},{"key":"ref26","first-page":"6405","article-title":"Simple and scalable predictive uncertainty estimation using deep ensembles","volume-title":"Proc. 31st Int. Conf. Neural Inf. Process. Syst.","author":"Lakshminarayanan","year":"2017"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610724"},{"key":"ref28","article-title":"One-meter resolution land cover dataset for the Chesapeake Bay Watershed, 2017\/18","year":"2022"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.21105\/joss.03384"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.90"},{"key":"ref31","first-page":"476","article-title":"D*lite","volume-title":"Proc. 18th Nat. Conf. Artif. Intell.","author":"Koenig","year":"2002"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10341537"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907122"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989202"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/10969146\/10974571.pdf?arnumber=10974571","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,6]],"date-time":"2025-05-06T17:05:30Z","timestamp":1746551130000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10974571\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6]]},"references-count":34,"journal-issue":{"issue":"6"},"URL":"https:\/\/doi.org\/10.1109\/lra.2025.3563808","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,6]]}}}