{"id":"https://openalex.org/W2487913505","doi":"https://doi.org/10.1109/hsi.2016.7529666","title":"Pedestrian detection and tracking of a mobile robot with multiple 2D laser range scanners","display_name":"Pedestrian detection and tracking of a mobile robot with multiple 2D laser range scanners","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2487913505","doi":"https://doi.org/10.1109/hsi.2016.7529666","mag":"2487913505"},"language":"en","primary_location":{"id":"doi:10.1109/hsi.2016.7529666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hsi.2016.7529666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 9th International Conference on Human System Interactions (HSI)","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/A5070183873","display_name":"Ryo Tsugita","orcid":null},"institutions":[{"id":"https://openalex.org/I206011266","display_name":"Kwansei Gakuin University","ror":"https://ror.org/02qf2tx24","country_code":"JP","type":"education","lineage":["https://openalex.org/I206011266"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryo Tsugita","raw_affiliation_strings":["Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan","institution_ids":["https://openalex.org/I206011266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039892300","display_name":"Nozomi Nishino","orcid":null},"institutions":[{"id":"https://openalex.org/I206011266","display_name":"Kwansei Gakuin University","ror":"https://ror.org/02qf2tx24","country_code":"JP","type":"education","lineage":["https://openalex.org/I206011266"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nozomi Nishino","raw_affiliation_strings":["Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan","institution_ids":["https://openalex.org/I206011266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035037458","display_name":"Daisuke Chugo","orcid":"https://orcid.org/0000-0002-3884-3746"},"institutions":[{"id":"https://openalex.org/I206011266","display_name":"Kwansei Gakuin University","ror":"https://ror.org/02qf2tx24","country_code":"JP","type":"education","lineage":["https://openalex.org/I206011266"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daisuke Chugo","raw_affiliation_strings":["Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan","institution_ids":["https://openalex.org/I206011266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108217144","display_name":"Satoshi Muramatsu","orcid":null},"institutions":[{"id":"https://openalex.org/I206011266","display_name":"Kwansei Gakuin University","ror":"https://ror.org/02qf2tx24","country_code":"JP","type":"education","lineage":["https://openalex.org/I206011266"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Muramatsu","raw_affiliation_strings":["Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan","institution_ids":["https://openalex.org/I206011266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083691433","display_name":"Sho Yokota","orcid":"https://orcid.org/0000-0002-8507-5620"},"institutions":[{"id":"https://openalex.org/I158123994","display_name":"Toyo University","ror":"https://ror.org/059d6yn51","country_code":"JP","type":"education","lineage":["https://openalex.org/I158123994"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sho Yokota","raw_affiliation_strings":["School of Science and Engineering, Toyo University, Kawagoe, Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, Toyo University, Kawagoe, Saitama, Japan","institution_ids":["https://openalex.org/I158123994"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103125589","display_name":"Hiroshi Hashimoto","orcid":"https://orcid.org/0000-0003-2416-8038"},"institutions":[{"id":"https://openalex.org/I74640424","display_name":"Advanced Institute of Industrial Technology","ror":"https://ror.org/04f9apy08","country_code":"JP","type":"education","lineage":["https://openalex.org/I74640424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Hashimoto","raw_affiliation_strings":["Master Program of Innovation for Design and Engineering, Advanced Institute of Industrial Technology Shinagawa, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Master Program of Innovation for Design and Engineering, Advanced Institute of Industrial Technology Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I74640424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5070183873"],"corresponding_institution_ids":["https://openalex.org/I206011266"],"apc_list":null,"apc_paid":null,"fwci":3.0525,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.91513194,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"412","last_page":"417"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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":0.9987999796867371,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.998199999332428,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"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/scanner","display_name":"Scanner","score":0.8581318855285645},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.807685911655426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7391253709793091},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.6526879668235779},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6467883586883545},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.539552628993988},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5053191781044006},{"id":"https://openalex.org/keywords/pedestrian-detection","display_name":"Pedestrian detection","score":0.49862241744995117},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.48026275634765625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.347402423620224},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.32340872287750244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21540504693984985},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.17264890670776367},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.11065852642059326},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07960200309753418}],"concepts":[{"id":"https://openalex.org/C2779751349","wikidata":"https://www.wikidata.org/wiki/Q1474480","display_name":"Scanner","level":2,"score":0.8581318855285645},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.807685911655426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7391253709793091},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.6526879668235779},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6467883586883545},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.539552628993988},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5053191781044006},{"id":"https://openalex.org/C2780156472","wikidata":"https://www.wikidata.org/wiki/Q2355550","display_name":"Pedestrian detection","level":3,"score":0.49862241744995117},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.48026275634765625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.347402423620224},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.32340872287750244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21540504693984985},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.17264890670776367},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.11065852642059326},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07960200309753418},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/hsi.2016.7529666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hsi.2016.7529666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 9th International Conference on Human System Interactions (HSI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1951298706","https://openalex.org/W1967865968","https://openalex.org/W1981621448","https://openalex.org/W2093846318","https://openalex.org/W2102792607","https://openalex.org/W2113215234","https://openalex.org/W2138846301","https://openalex.org/W2165493269","https://openalex.org/W2324575928","https://openalex.org/W2334430898","https://openalex.org/W2510317197","https://openalex.org/W6677031859"],"related_works":["https://openalex.org/W2972620127","https://openalex.org/W2981141433","https://openalex.org/W897367340","https://openalex.org/W4252521546","https://openalex.org/W2946859545","https://openalex.org/W2183753145","https://openalex.org/W2550620568","https://openalex.org/W1486212407","https://openalex.org/W2056469872","https://openalex.org/W2055985996"],"abstract_inverted_index":{"This":[0,98],"paper":[1],"proposes":[2],"a":[3,25,41,50,55,63,73,95,111,159],"method":[4,185],"for":[5,15,158,186],"detecting":[6],"and":[7,46,194],"tracking":[8,197],"pedestrians,":[9],"which":[10,189],"is":[11,88,101,156,190],"an":[12],"important":[13],"function":[14],"preventing":[16],"the":[17,29,47,68,115,118,122,126,132,135,141,146,150,171,175,180,183],"collision":[18],"of":[19,35,72,117,125,134,174,182],"autonomously":[20],"moving":[21,165],"mobile":[22],"robots":[23],"with":[24,62,145,204],"pedestrian.":[26],"To":[27,178],"observe":[28],"pedestrian,":[30],"we":[31,139,202],"use":[32],"two":[33],"types":[34],"laser":[36],"range":[37],"scanners:":[38],"one":[39],"scans":[40,49],"2D":[42,64,83,152,160],"plane":[43],"(2D":[44],"scanner)":[45],"other":[48],"3D":[51,56,60,74,77,86,107,128],"space,":[52],"such":[53],"as":[54],"scanner.":[57],"We":[58],"scan":[59],"space":[61,87],"scanner":[65,108,129,153,161],"fixed":[66],"on":[67,114,131],"turning":[69,106,127,136],"mechanism,":[70],"instead":[71],"scanner,":[75],"because":[76,105,154],"scanners":[78],"are":[79],"more":[80],"expensive":[81],"than":[82],"scanners.":[84],"The":[85],"divided":[89],"into":[90],"voxels":[91],"to":[92,103,162,170,192],"determine":[93],"whether":[94],"pedestrian":[96,112,187],"exists.":[97],"detection":[99],"system":[100],"robust":[102,191],"occlusion":[104,193],"can":[109],"detect":[110],"based":[113],"shape":[116],"data":[119,147,176],"points.":[120,177],"However,":[121],"scanning":[123,200],"span":[124],"depends":[130],"period":[133],"mechanism;":[137],"thus,":[138],"combine":[140],"detected":[142],"pedestrian's":[143],"position":[144],"scanned":[148],"by":[149],"normal":[151],"it":[155],"possible":[157],"track":[163],"objects":[164],"in":[166],"real":[167],"time":[168],"according":[169],"positional":[172],"transition":[173],"investigate":[179],"efficiency":[181],"proposed":[184],"detection,":[188],"exhibits":[195],"real-time":[196],"using":[198],"reasonable":[199],"devices,":[201],"experiment":[203],"our":[205],"prototype.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
