{"id":"https://openalex.org/W4406841135","doi":"https://doi.org/10.1016/j.robot.2026.105472","title":"LiDAR-based vehicle detection and tracking for autonomous racing","display_name":"LiDAR-based vehicle detection and tracking for autonomous racing","publication_year":2026,"publication_date":"2026-04-08","ids":{"openalex":"https://openalex.org/W4406841135","doi":"https://doi.org/10.1016/j.robot.2026.105472"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2026.105472","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105472","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.robot.2026.105472","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009894419","display_name":"Marcello Cellina","orcid":null},"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":"Marcello Cellina","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Piazza Leonardo da Vinci 32, Milano, 20134, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Piazza Leonardo da Vinci 32, Milano, 20134, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066842848","display_name":"Matteo Corno","orcid":"https://orcid.org/0000-0003-2644-7487"},"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":"Matteo Corno","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Piazza Leonardo da Vinci 32, Milano, 20134, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Piazza Leonardo da Vinci 32, Milano, 20134, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047303451","display_name":"Sergio M. Savaresi","orcid":"https://orcid.org/0000-0001-5829-2323"},"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":"Sergio Matteo Savaresi","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Piazza Leonardo da Vinci 32, Milano, 20134, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Piazza Leonardo da Vinci 32, Milano, 20134, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5066842848"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":{"value":3020,"currency":"USD","value_usd":3020},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00249786,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"202","issue":null,"first_page":"105472","last_page":"105472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9958000183105469,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9958000183105469,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.96670001745224,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9659000039100647,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/lidar","display_name":"Lidar","score":0.7523044943809509},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6261714696884155},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5372469425201416},{"id":"https://openalex.org/keywords/vehicle-tracking-system","display_name":"Vehicle tracking system","score":0.5229414701461792},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4304879903793335},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3814317286014557},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3695487976074219},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.25206783413887024},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1802850067615509},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.1069212555885315},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07415926456451416}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7523044943809509},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6261714696884155},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5372469425201416},{"id":"https://openalex.org/C84119951","wikidata":"https://www.wikidata.org/wiki/Q3498530","display_name":"Vehicle tracking system","level":3,"score":0.5229414701461792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4304879903793335},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3814317286014557},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3695487976074219},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.25206783413887024},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1802850067615509},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.1069212555885315},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07415926456451416},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1016/j.robot.2026.105472","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105472","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2501.14502","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2501.14502","pdf_url":"https://arxiv.org/pdf/2501.14502","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2501.14502","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2501.14502","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.1016/j.robot.2026.105472","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105472","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320324039","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2158788032","https://openalex.org/W2379834692","https://openalex.org/W3011975694","https://openalex.org/W3149198594","https://openalex.org/W262982000","https://openalex.org/W4210926302","https://openalex.org/W3160711186","https://openalex.org/W2058830477","https://openalex.org/W2971083806","https://openalex.org/W2902127828"],"abstract_inverted_index":{"Operating":[0],"at":[1,32],"the":[2,48,66,91,123],"physical":[3],"limits":[4],"of":[5,94],"vehicle":[6],"dynamics":[7],"requires":[8],"perception":[9,68],"systems":[10],"with":[11],"near-zero":[12],"latency":[13],"and":[14,110,126],"high":[15],"spatial":[16],"reliability.":[17],"High-speed":[18],"autonomous":[19,27,58,132],"racing":[20],"represents":[21],"an":[22],"extreme":[23],"edge":[24],"case":[25],"for":[26,40,52,129],"driving,":[28],"where":[29],"multi-agent":[30],"interactions":[31],"velocities":[33],"exceeding":[34],"250":[35],"km/h":[36],"leave":[37],"no":[38],"margin":[39],"processing":[41],"delays.":[42],"Because":[43],"this":[44,120],"emerging":[45],"domain":[46],"lacks":[47],"large-scale":[49],"datasets":[50],"required":[51],"modern":[53],"data-driven":[54],"approaches,":[55],"standard":[56],"urban":[57],"driving":[59],"models":[60],"are":[61],"insufficient.":[62],"This":[63],"paper":[64],"details":[65],"LiDAR":[67],"architecture":[69,121],"utilized":[70],"by":[71],"Team":[72],"PoliMOVE":[73],"to":[74],"secure":[75],"multiple":[76],"Indy":[77],"Autonomous":[78],"Challenge":[79],"championships.":[80],"Rather":[81],"than":[82],"proposing":[83],"isolated":[84],"novel":[85],"heuristics,":[86],"our":[87],"contribution":[88],"lies":[89],"in":[90],"system-level":[92],"integration":[93],"a":[95,98,104,111],"domain-specific":[96],"pipeline:":[97],"high-speed":[99],"Point":[100],"Cloud":[101],"Segmentation":[102],"technique,":[103],"specialized":[105],"Vehicle":[106],"Pose":[107],"Estimation":[108],"framework,":[109],"variable-step":[112],"Multi-Target":[113],"Tracking":[114],"algorithm.":[115],"Experimental":[116],"validation":[117],"confirms":[118],"that":[119],"provides":[122],"computational":[124],"efficiency":[125],"robustness":[127],"necessary":[128],"safe,":[130],"fully":[131],"overtaking":[133],"under":[134],"extreme-speed":[135],"constraints.":[136]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}