@article{ART003375032},
author={Sowon Lee and Taehoon Kim and AHN JUN HO},
title={A Zero-Shot Vision Algorithm for Safe Path Planning on Irregular Terrain in Unstructured Outdoor Environments},
journal={Journal of Internet of Things and Convergence},
issn={2466-0078},
year={2026},
volume={12},
number={4},
pages={25}
TY - JOUR
AU - Sowon Lee
AU - Taehoon Kim
AU - AHN JUN HO
TI - A Zero-Shot Vision Algorithm for Safe Path Planning on Irregular Terrain in Unstructured Outdoor Environments
JO - Journal of Internet of Things and Convergence
PY - 2026
VL - 12
IS - 4
PB - The Korea Internet of Things Society
SP - 25
EP -
SN - 2466-0078
AB - As the demand for outdoor autonomous mobile robots increases, zero-shot methods that identify safe traversable areas while minimizing dataset construction and additional training are gaining attention. However, existing monocular vision-based approaches often show limited generalization in unstructured outdoor environments with ambiguous boundaries and diverse surface conditions. This study proposes a zero-shot fusion algorithm integrating image segmentation, depth estimation, and feature extraction to distinguish obstacles and hazardous regions without additional training. The segmentation parameters are adjusted to generate dense masks that include small obstacles, while a depth estimation model calculates pixel-wise relative distances. Feature extraction is then used to identify highly activated masks corresponding to traversable paths, and distribution-based cosine similarity and hierarchical clustering merge over-detected regions to improve detection stability. Finally, average depth values are assigned to each mask to incorporate spatial information. The proposed method achieved accuracies of 92.6% on a self-constructed dataset and 95.5% on the ORFD benchmark.
KW - Safe navigable path;obstacle detection;zero-shot vision;depth estimation;unstructured outdoor
DO -
UR -
ER -
Sowon Lee, Taehoon Kim and AHN JUN HO. (2026). A Zero-Shot Vision Algorithm for Safe Path Planning on Irregular Terrain in Unstructured Outdoor Environments. Journal of Internet of Things and Convergence, 12(4), 25.
Sowon Lee, Taehoon Kim and AHN JUN HO. 2026, "A Zero-Shot Vision Algorithm for Safe Path Planning on Irregular Terrain in Unstructured Outdoor Environments", Journal of Internet of Things and Convergence, vol.12, no.4 25.
Sowon Lee, Taehoon Kim, AHN JUN HO "A Zero-Shot Vision Algorithm for Safe Path Planning on Irregular Terrain in Unstructured Outdoor Environments" Journal of Internet of Things and Convergence 12.4 25 (2026) : 25.
Sowon Lee, Taehoon Kim, AHN JUN HO. A Zero-Shot Vision Algorithm for Safe Path Planning on Irregular Terrain in Unstructured Outdoor Environments. 2026; 12(4), 25.
Sowon Lee, Taehoon Kim and AHN JUN HO. "A Zero-Shot Vision Algorithm for Safe Path Planning on Irregular Terrain in Unstructured Outdoor Environments" Journal of Internet of Things and Convergence 12, no.4 (2026) : 25.
Sowon Lee; Taehoon Kim; AHN JUN HO. A Zero-Shot Vision Algorithm for Safe Path Planning on Irregular Terrain in Unstructured Outdoor Environments. Journal of Internet of Things and Convergence, 12(4), 25.
Sowon Lee; Taehoon Kim; AHN JUN HO. A Zero-Shot Vision Algorithm for Safe Path Planning on Irregular Terrain in Unstructured Outdoor Environments. Journal of Internet of Things and Convergence. 2026; 12(4) 25.
Sowon Lee, Taehoon Kim, AHN JUN HO. A Zero-Shot Vision Algorithm for Safe Path Planning on Irregular Terrain in Unstructured Outdoor Environments. 2026; 12(4), 25.
Sowon Lee, Taehoon Kim and AHN JUN HO. "A Zero-Shot Vision Algorithm for Safe Path Planning on Irregular Terrain in Unstructured Outdoor Environments" Journal of Internet of Things and Convergence 12, no.4 (2026) : 25.
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