{"id":"https://openalex.org/W2038701704","doi":"https://doi.org/10.1109/ecmr.2015.7324046","title":"A fast probabilistic ego-motion estimation framework for radar","display_name":"A fast probabilistic ego-motion estimation framework for radar","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2038701704","doi":"https://doi.org/10.1109/ecmr.2015.7324046","mag":"2038701704"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2015.7324046","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2015.7324046","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 European Conference on Mobile Robots (ECMR)","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/A5104353457","display_name":"Matthias Rapp","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Matthias Rapp","raw_affiliation_strings":["Control and Microtechnology, Ulm University, Germany","Institute of Measurement, Control, and Microtechnology, Ulm University, Germany,"],"affiliations":[{"raw_affiliation_string":"Control and Microtechnology, Ulm University, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, Ulm University, Germany,","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082982566","display_name":"Michael Barjenbruch","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Barjenbruch","raw_affiliation_strings":["Control and Microtechnology, Ulm University, Germany","Institute of Measurement, Control, and Microtechnology, Ulm University, Germany,"],"affiliations":[{"raw_affiliation_string":"Control and Microtechnology, Ulm University, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, Ulm University, Germany,","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085054529","display_name":"Klaus Dietmayer","orcid":"https://orcid.org/0000-0002-1651-014X"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaus Dietmayer","raw_affiliation_strings":["Control and Microtechnology, Ulm University, Germany","Institute of Measurement, Control, and Microtechnology, Ulm University, Germany,"],"affiliations":[{"raw_affiliation_string":"Control and Microtechnology, Ulm University, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, Ulm University, Germany,","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042046215","display_name":"Markus Hahn","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Hahn","raw_affiliation_strings":["Daimler AG, Ulm, Germany","[Daimler AG, Ulm, Germany]"],"affiliations":[{"raw_affiliation_string":"Daimler AG, Ulm, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"[Daimler AG, Ulm, Germany]","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089546333","display_name":"J\u00fcrgen Dickmann","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jurgen Dickmann","raw_affiliation_strings":["Daimler AG, Ulm, Germany","[Daimler AG, Ulm, Germany]"],"affiliations":[{"raw_affiliation_string":"Daimler AG, Ulm, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"[Daimler AG, Ulm, Germany]","institution_ids":["https://openalex.org/I891521709"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5104353457"],"corresponding_institution_ids":["https://openalex.org/I196349391"],"apc_list":null,"apc_paid":null,"fwci":44.2582,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.99382117,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9980000257492065,"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/odometry","display_name":"Odometry","score":0.6841652989387512},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6835950613021851},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6795414090156555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6721608638763428},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.48717233538627625},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4489086866378784},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4482755661010742},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.42966026067733765},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4145689904689789},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34084421396255493},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24337682127952576},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2328777015209198},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20248275995254517},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09891411662101746}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6841652989387512},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6835950613021851},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6795414090156555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6721608638763428},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.48717233538627625},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4489086866378784},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4482755661010742},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.42966026067733765},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4145689904689789},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34084421396255493},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24337682127952576},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2328777015209198},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20248275995254517},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09891411662101746},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr.2015.7324046","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2015.7324046","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8500000238418579,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1527191856","https://openalex.org/W1567242735","https://openalex.org/W2015442982","https://openalex.org/W2084480077","https://openalex.org/W2099152022","https://openalex.org/W2110806706","https://openalex.org/W2118799426","https://openalex.org/W2131439959","https://openalex.org/W2296147781","https://openalex.org/W4243425824"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W2787146399","https://openalex.org/W4390187686","https://openalex.org/W2111152968","https://openalex.org/W2583798032"],"abstract_inverted_index":{"This":[0,38],"paper":[1],"presents":[2],"a":[3,62,91,100,121,149],"fast,":[4],"joint":[5,101],"spatial-":[6],"and":[7,17,30,128,148],"Doppler":[8,81,86],"velocity-based,":[9],"probabilistic":[10],"approach":[11,73,93],"for":[12,15,27],"ego-motion":[13,108,130],"estimation":[14,131],"single":[16],"multiple":[18],"radar-equipped":[19],"robots.":[20],"The":[21,85],"normal":[22,54],"distribution":[23,55],"transform":[24],"is":[25,41,68,88],"used":[26,89],"the":[28,52,80,96,106,126,133,137,145],"fast":[29],"accurate":[31,129],"position":[32,97],"matching":[33,72,98],"of":[34,51,132],"consecutive":[35],"radar":[36,124],"detections.":[37],"registration":[39],"technique":[40,60],"successfully":[42],"applied":[43],"to":[44,94,99,142],"laser-based":[45],"scan":[46],"matching.":[47],"To":[48],"overcome":[49],"discontinuities":[50],"original":[53],"approach,":[56],"an":[57,117],"appropriate":[58],"clustering":[59],"provides":[61],"globally":[63],"smooth":[64],"mixed-Gaussian":[65],"representation.":[66],"It":[67],"shown":[69],"how":[70],"this":[71,110],"can":[74],"be":[75],"significantly":[76],"improved":[77],"by":[78],"taking":[79],"information":[82,87],"into":[83],"account.":[84],"in":[90,116],"density-based":[92],"extend":[95],"likelihood":[102],"optimization":[103],"function.":[104,111],"Then,":[105],"estimated":[107],"maximizes":[109],"Large-scale":[112],"real":[113],"world":[114],"experiments":[115],"urban":[118],"environment":[119],"using":[120],"77":[122],"GHz":[123],"show":[125],"robust":[127],"proposed":[134],"algorithm.":[135],"In":[136],"experiments,":[138],"comparisons":[139],"are":[140],"made":[141],"state-of-the-art":[143],"algorithms,":[144],"vehicle":[146],"odometry,":[147],"high-precision":[150],"inertial":[151],"measurement":[152],"unit.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3}],"updated_date":"2026-03-24T05:59:24.953642","created_date":"2025-10-10T00:00:00"}