{"id":"https://openalex.org/W4387089897","doi":"https://doi.org/10.1109/ecmr59166.2023.10256301","title":"Late-Fusion Multimodal Human Detection Based on RGB and Thermal Images for Robotic Perception","display_name":"Late-Fusion Multimodal Human Detection Based on RGB and Thermal Images for Robotic Perception","publication_year":2023,"publication_date":"2023-09-04","ids":{"openalex":"https://openalex.org/W4387089897","doi":"https://doi.org/10.1109/ecmr59166.2023.10256301"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr59166.2023.10256301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr59166.2023.10256301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5067965738","display_name":"El\u00edsio Sousa","orcid":null},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]},{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"El\u00edsio Sousa","raw_affiliation_strings":["Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Portugal","Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092952260","display_name":"Kennedy O. S. Mota","orcid":null},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]},{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Kennedy O. S. Mota","raw_affiliation_strings":["Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Portugal","Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048223004","display_name":"Iago Pach\u00eaco Gomes","orcid":"https://orcid.org/0000-0002-4184-4440"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Iago P. Gomes","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010345616","display_name":"Lu\u00eds Garrote","orcid":"https://orcid.org/0000-0003-3833-3794"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Lu\u00eds Garrote","raw_affiliation_strings":["Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Portugal","Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047424364","display_name":"Denis F. Wolf","orcid":"https://orcid.org/0000-0003-1485-5686"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Denis F. Wolf","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S&#x00E3;o Paulo,Brazil","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039508418","display_name":"Cristiano Premebida","orcid":"https://orcid.org/0000-0002-2168-2077"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Cristiano Premebida","raw_affiliation_strings":["Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Portugal","Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067965738"],"corresponding_institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"],"apc_list":null,"apc_paid":null,"fwci":1.1023,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.80066758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"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/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/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8075294494628906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.775908887386322},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7541093230247498},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7274988889694214},{"id":"https://openalex.org/keywords/pedestrian-detection","display_name":"Pedestrian detection","score":0.6804256439208984},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.604052722454071},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5096580982208252},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5048578381538391},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46380284428596497},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4535861313343048},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.41201579570770264},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.39702072739601135},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.20890864729881287},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11369407176971436}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8075294494628906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.775908887386322},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7541093230247498},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7274988889694214},{"id":"https://openalex.org/C2780156472","wikidata":"https://www.wikidata.org/wiki/Q2355550","display_name":"Pedestrian detection","level":3,"score":0.6804256439208984},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.604052722454071},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5096580982208252},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5048578381538391},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46380284428596497},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4535861313343048},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.41201579570770264},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.39702072739601135},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.20890864729881287},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11369407176971436},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr59166.2023.10256301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr59166.2023.10256301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G6751397194","display_name":null,"funder_award_id":"PTDC/EEI-ROB/2459/2021","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"}],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1519128923","https://openalex.org/W1910108985","https://openalex.org/W1966456026","https://openalex.org/W1986864914","https://openalex.org/W2015148749","https://openalex.org/W2039961654","https://openalex.org/W2080914079","https://openalex.org/W2093962386","https://openalex.org/W2121955477","https://openalex.org/W2125896931","https://openalex.org/W2139137304","https://openalex.org/W2153381423","https://openalex.org/W2156546852","https://openalex.org/W2340671224","https://openalex.org/W2415234561","https://openalex.org/W2416791088","https://openalex.org/W2750789945","https://openalex.org/W2760327656","https://openalex.org/W2767014298","https://openalex.org/W2803740064","https://openalex.org/W2902314041","https://openalex.org/W2905727092","https://openalex.org/W2946431292","https://openalex.org/W2963037989","https://openalex.org/W2966197049","https://openalex.org/W2970929725","https://openalex.org/W2997281059","https://openalex.org/W3036931590","https://openalex.org/W3091001089","https://openalex.org/W3115753462","https://openalex.org/W3118570274","https://openalex.org/W3145217148","https://openalex.org/W3174058041","https://openalex.org/W3198395114","https://openalex.org/W3199736468","https://openalex.org/W3201025429","https://openalex.org/W3213472242","https://openalex.org/W4200631567","https://openalex.org/W4210621820","https://openalex.org/W4247166256","https://openalex.org/W4308866531","https://openalex.org/W4322123798","https://openalex.org/W4366378409","https://openalex.org/W6756834165"],"related_works":["https://openalex.org/W2972620127","https://openalex.org/W2981141433","https://openalex.org/W2802018156","https://openalex.org/W4313315626","https://openalex.org/W2101531944","https://openalex.org/W2922437833","https://openalex.org/W2100052226","https://openalex.org/W4312696271","https://openalex.org/W4223892596","https://openalex.org/W2933098581"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,29,84,118,131,138,151,162],"problem":[4],"of":[5,28,45,86,93,130,153],"detecting":[6],"humans":[7],"in":[8,40,98,111,137,143,165],"RGB":[9,53,115],"and":[10,67,100,114,125,142],"Thermal":[11],"(long-wave":[12],"IR)":[13],"images":[14,71],"taken":[15],"by":[16],"cameras":[17,88],"mounted":[18],"onboard":[19],"a":[20,58,90,144,157],"mobile":[21],"robot.":[22],"Human/Pedestrian":[23],"detection":[24,33,97],"is":[25,134],"currently":[26],"one":[27],"most":[30],"pertinent":[31],"object":[32],"problems,":[34],"mainly":[35],"due":[36],"to":[37,108,160],"safety":[38],"concerns":[39],"autonomous":[41],"vehicles.":[42],"The":[43,103],"majority":[44],"approaches":[46],"apply":[47],"deep-learning":[48],"techniques":[49,155],"based":[50],"solely":[51],"on":[52],"images.":[54,116],"However,":[55],"they":[56],"have":[57],"few":[59],"shortcomings,":[60],"namely":[61],"that":[62,150],"during":[63],"foggy":[64],"weather,":[65],"nighttime,":[66],"low-light":[68],"scenarios,":[69],"these":[70,79],"may":[72],"not":[73],"contain":[74],"sufficient":[75],"information.":[76],"To":[77],"address":[78],"issues,":[80],"this":[81,166],"work":[82],"studies":[83],"use":[85,152],"thermal":[87,113],"as":[89],"complementary":[91],"source":[92],"information":[94],"for":[95],"human":[96],"indoor":[99],"outdoor":[101],"environments.":[102],"proposed":[104,132],"approach":[105,133],"uses":[106],"YOLOv5":[107],"detect":[109],"pedestrians":[110],"both":[112],"Moreover,":[117],"different":[119],"modalities":[120],"are":[121],"combined":[122],"using":[123],"early":[124],"late":[126],"fusion":[127,154],"techniques.":[128],"Evaluation":[129],"carried":[135],"out":[136],"FLIR":[139],"Aligned":[140],"dataset":[141],"new":[145],"in-house":[146],"dataset.":[147],"Results":[148],"indicate":[149],"highlights":[156],"promising":[158],"way":[159],"improve":[161],"overall":[163],"performance":[164],"application":[167],"domain.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}
