{"id":"https://openalex.org/W2974705771","doi":"https://doi.org/10.1109/coase.2019.8843260","title":"Vision-only 3D Tracking for Self-Driving Cars","display_name":"Vision-only 3D Tracking for Self-Driving Cars","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W2974705771","doi":"https://doi.org/10.1109/coase.2019.8843260","mag":"2974705771"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2019.8843260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2019.8843260","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038751104","display_name":"Carlos Andres Diaz-Ruiz","orcid":"https://orcid.org/0009-0007-8111-7815"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Carlos Diaz-Ruiz","raw_affiliation_strings":["Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY"],"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100322785","display_name":"Yan Wang","orcid":"https://orcid.org/0000-0002-7398-5854"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Wang","raw_affiliation_strings":["Computer Science Department, Cornell University, Ithaca, NY"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Cornell University, Ithaca, NY","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101520942","display_name":"Wei\u2010Lun Chao","orcid":"https://orcid.org/0000-0003-1269-7231"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei-Lun Chao","raw_affiliation_strings":["Computer Science Department, Cornell University, Ithaca, NY"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Cornell University, Ithaca, NY","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006380227","display_name":"Kilian Q. Weinberger","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kilian Weinberger","raw_affiliation_strings":["Computer Science Department, Cornell University, Ithaca, NY"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Cornell University, Ithaca, NY","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087789612","display_name":"Mark Campbell","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Campbell","raw_affiliation_strings":["Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY"],"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5038751104"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":0.7086,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.75231615,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1029","last_page":"1034"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"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":0.871013879776001},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7998994588851929},{"id":"https://openalex.org/keywords/bittorrent-tracker","display_name":"BitTorrent tracker","score":0.7964653968811035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7724077701568604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7049184441566467},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6847959756851196},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.651991069316864},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5824093818664551},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5705397725105286},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5310996770858765},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.5288459062576294},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.4155687689781189},{"id":"https://openalex.org/keywords/eye-tracking","display_name":"Eye tracking","score":0.3302341103553772},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.3271031975746155},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2546311616897583},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.20603439211845398},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1479511260986328},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10496068000793457}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.871013879776001},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7998994588851929},{"id":"https://openalex.org/C57501372","wikidata":"https://www.wikidata.org/wiki/Q2021268","display_name":"BitTorrent tracker","level":3,"score":0.7964653968811035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7724077701568604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7049184441566467},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6847959756851196},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.651991069316864},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5824093818664551},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5705397725105286},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5310996770858765},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.5288459062576294},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.4155687689781189},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.3302341103553772},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3271031975746155},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2546311616897583},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.20603439211845398},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1479511260986328},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10496068000793457},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2019.8843260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2019.8843260","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1598925886","https://openalex.org/W2105529373","https://openalex.org/W2124781496","https://openalex.org/W2126828821","https://openalex.org/W2150066425","https://openalex.org/W2184393491","https://openalex.org/W2259424905","https://openalex.org/W2468368736","https://openalex.org/W2739013603","https://openalex.org/W2788715189","https://openalex.org/W2798930779","https://openalex.org/W2954174912","https://openalex.org/W2963150697","https://openalex.org/W2963400571","https://openalex.org/W2963488291","https://openalex.org/W2963619659","https://openalex.org/W2964060597","https://openalex.org/W2970938561","https://openalex.org/W3100388886","https://openalex.org/W3114753236","https://openalex.org/W3187867541","https://openalex.org/W6686211706","https://openalex.org/W6748593909","https://openalex.org/W6756892258"],"related_works":["https://openalex.org/W4384788979","https://openalex.org/W2511178891","https://openalex.org/W2126676984","https://openalex.org/W178060743","https://openalex.org/W2909390414","https://openalex.org/W2954509079","https://openalex.org/W3104472694","https://openalex.org/W2141888607","https://openalex.org/W2753886513","https://openalex.org/W1765993298"],"abstract_inverted_index":{"A":[0,37],"vision-only":[1,78,98],"tracking":[2,38,101],"framework":[3],"is":[4,15,40,118],"developed":[5],"and":[6,34,57,100],"experimentally":[7],"evaluated":[8],"for":[9],"self-driving":[10],"cars.":[11],"Vision-only":[12],"object":[13,35],"detection":[14,30,99,112],"achieved":[16],"by":[17,26,90],"transforming":[18],"stereo":[19],"depth":[20],"maps":[21],"into":[22],"point":[23],"clouds,":[24],"followed":[25],"LiDAR-based":[27,92],"detectors.":[28],"Each":[29],"yields":[31],"location,":[32],"orientation,":[33],"size.":[36],"algorithm":[39],"then":[41],"used":[42],"to":[43,52,64,109,120],"combine":[44],"the":[45,65,71,91],"detections":[46],"with":[47],"a":[48],"physics":[49],"based":[50,111],"model":[51],"create":[53],"robust":[54],"vehicle":[55],"tracks":[56],"IDs.":[58],"We":[59,75],"empirically":[60],"evaluate":[61],"our":[62],"approach":[63,117],"ones":[66],"relying":[67],"on":[68],"LiDAR":[69,110],"using":[70],"KITTI":[72],"Tracking":[73],"dataset.":[74],"found":[76],"that":[77],"trackers":[79],"yield":[80],"comparable":[81],"performance":[82,108],"in":[83],"short":[84],"ranges,":[85],"but":[86],"are":[87],"still":[88],"outperformed":[89],"one":[93],"at":[94,113],"far":[95],"distances.":[96],"Specifically,":[97],"can":[102],"generate":[103],"good":[104],"estimates":[105],"achieving":[106],"close":[107,114],"range.":[115],"The":[116],"generalizable":[119],"other":[121],"trackers,":[122],"particularly":[123],"those":[124],"which":[125],"use":[126],"multiple":[127],"sensors.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}