{"id":"https://openalex.org/W4403094792","doi":"https://doi.org/10.1007/978-3-031-70392-8_73","title":"Cooperative LiDAR-Aided Self-localization of CAVs in Real Urban Scenario","display_name":"Cooperative LiDAR-Aided Self-localization of CAVs in Real Urban Scenario","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4403094792","doi":"https://doi.org/10.1007/978-3-031-70392-8_73"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-031-70392-8_73","doi":"https://doi.org/10.1007/978-3-031-70392-8_73","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-031-70392-8_73","pdf_url":"https://link.springer.com/content/pdf/10.1007/978-3-031-70392-8_73.pdf","source":{"id":"https://openalex.org/S4210184193","display_name":"Lecture notes in mechanical engineering","issn_l":"2195-4356","issn":["2195-4356","2195-4364"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Mechanical Engineering","raw_type":"book-chapter"},"volume":{"id":"https://openalex.org/W4403094782","display_name":"16th International Symposium on Advanced Vehicle Control"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/978-3-031-70392-8_73.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5107733408","display_name":"Akif Adas","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Akif Adas","raw_affiliation_strings":["Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072048690","display_name":"Luca Barbieri","orcid":"https://orcid.org/0000-0002-8948-8158","observed_orcids":["https://orcid.org/0000-0002-8948-8158"]},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Barbieri","raw_affiliation_strings":["Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092244670","display_name":"Pietro Morri","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Pietro Morri","raw_affiliation_strings":["Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069272393","display_name":"Simone Mentasti","orcid":"https://orcid.org/0000-0001-7059-413X","observed_orcids":["https://orcid.org/0000-0001-7059-413X"]},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Mentasti","raw_affiliation_strings":["Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080438302","display_name":"Satyesh Shanker Awasthi","orcid":"https://orcid.org/0000-0003-1516-6161","observed_orcids":["https://orcid.org/0000-0003-1516-6161"]},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Satyesh Awasthi","raw_affiliation_strings":["Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008998113","display_name":"Stefano Arrigoni","orcid":"https://orcid.org/0000-0002-5316-7387","observed_orcids":["https://orcid.org/0000-0002-5316-7387"]},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Arrigoni","raw_affiliation_strings":["Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044782593","display_name":"Edoardo Sabbioni","orcid":"https://orcid.org/0000-0002-4356-8814","observed_orcids":["https://orcid.org/0000-0002-4356-8814"]},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Edoardo Sabbioni","raw_affiliation_strings":["Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002552632","display_name":"Monica Nicoli","orcid":"https://orcid.org/0000-0001-7104-7015","observed_orcids":["https://orcid.org/0000-0001-7104-7015"]},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Monica Nicoli","raw_affiliation_strings":["Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5107733408"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":1.7161,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.8465318,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"510","last_page":"516"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8525000214576721,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8525000214576721,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.1331000030040741,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.007300000172108412,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/connected-and-autonomous-vehicles","display_name":"connected and autonomous vehicles","score":0.9679999947547913},{"id":"https://openalex.org/keywords/lidar-point-cloud","display_name":"LiDAR point cloud","score":0.9549999833106995},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"extended Kalman filter","score":0.7429999709129333},{"id":"https://openalex.org/keywords/object-detection","display_name":"object detection","score":0.7739999890327454},{"id":"https://openalex.org/keywords/cooperative-localization","display_name":"cooperative localization","score":0.5210000276565552},{"id":"https://openalex.org/keywords/city-positioning","display_name":"urban positioning","score":0.5609999895095825},{"id":"https://openalex.org/keywords/probabilistic-state-estimation","display_name":"probabilistic state estimation","score":0.5709999799728394}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8317335844039917},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.48840969800949097},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4517943859100342},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3713131546974182},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2621745765209198}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/978-3-031-70392-8_73","doi":"https://doi.org/10.1007/978-3-031-70392-8_73","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-031-70392-8_73","pdf_url":"https://link.springer.com/content/pdf/10.1007/978-3-031-70392-8_73.pdf","source":{"id":"https://openalex.org/S4210184193","display_name":"Lecture notes in mechanical engineering","issn_l":"2195-4356","issn":["2195-4356","2195-4364"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Mechanical Engineering","raw_type":"book-chapter"},{"id":"pmh:oai:re.public.polimi.it:11311/1274686","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1274686","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"doi:10.1007/978-3-031-70392-8_73","doi":"https://doi.org/10.1007/978-3-031-70392-8_73","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-031-70392-8_73","pdf_url":"https://link.springer.com/content/pdf/10.1007/978-3-031-70392-8_73.pdf","source":{"id":"https://openalex.org/S4210184193","display_name":"Lecture notes in mechanical engineering","issn_l":"2195-4356","issn":["2195-4356","2195-4364"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Mechanical Engineering","raw_type":"book-chapter"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.761900007724762},{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6773999929428101}],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G1175062043","display_name":null,"funder_award_id":"1033\u2013 17/06/2022","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G2649423451","display_name":null,"funder_award_id":"CN0000002 3","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403094792.pdf","grobid_xml":"https://content.openalex.org/works/W4403094792.grobid-xml"},"referenced_works_count":7,"referenced_works":["https://openalex.org/W77967498","https://openalex.org/W1909771825","https://openalex.org/W2024908906","https://openalex.org/W2781561575","https://openalex.org/W2982437619","https://openalex.org/W4392222816","https://openalex.org/W4403331880"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"Abstract":[0],"In":[1,97],"the":[2,71,74,120],"rapidly":[3],"advancing":[4],"realm":[5],"of":[6,17,73],"Connected":[7],"Autonomous":[8],"Vehicles":[9],"(CAVs),":[10],"achieving":[11],"reliable":[12],"and":[13,30,50,95],"precise":[14],"positioning":[15,37,126],"is":[16,70],"paramount":[18],"importance.":[19],"This":[20],"paper":[21],"presents":[22],"a":[23,48,82],"comprehensive":[24],"approach":[25],"integrating":[26],"vehicular":[27,107,125],"sensing,":[28],"communication,":[29],"advanced":[31],"filtering":[32],"techniques":[33],"to":[34,67],"enhance":[35],"vehicle":[36],"in":[38,63,89],"urban":[39],"areas.":[40],"By":[41],"leveraging":[42],"LiDAR":[43],"point":[44],"clouds":[45],"along":[46],"with":[47],"light":[49],"accurate":[51],"object":[52,100],"detector,":[53],"we":[54],"create":[55],"cohesive":[56],"environmental":[57],"sensing":[58],"that":[59,119],"improves":[60],"situational":[61],"awareness":[62],"autonomous":[64],"systems.":[65],"Central":[66],"our":[68],"methodology":[69],"integration":[72],"Labeled":[75],"Multi-Bernoulli":[76],"Mixture":[77],"(LMBM)":[78],"filter,":[79],"which":[80],"offers":[81],"probabilistic":[83],"framework":[84],"for":[85,106],"dynamic":[86],"state":[87],"estimation":[88],"environments":[90],"characterized":[91],"by":[92],"high":[93],"uncertainty":[94],"clutter.":[96],"turn,":[98],"enhanced":[99],"locations":[101],"are":[102],"exploited":[103],"as":[104],"anchors":[105],"self-localization":[108],"via":[109],"an":[110],"Extended":[111],"Kalman":[112],"filter":[113],"(EKF).":[114],"Our":[115],"experimental":[116],"results":[117],"show":[118],"proposed":[121],"solution":[122],"significantly":[123],"enhances":[124],"accuracy.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-10-10T09:11:00.788812","created_date":"2025-10-10T00:00:00"}
