{"id":"https://openalex.org/W2585606905","doi":"https://doi.org/10.1109/icarcv.2016.7838777","title":"Monocular visual odometry with road probability distribution factor for lane-level vehicle localization","display_name":"Monocular visual odometry with road probability distribution factor for lane-level vehicle localization","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2585606905","doi":"https://doi.org/10.1109/icarcv.2016.7838777","mag":"2585606905"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2016.7838777","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838777","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5113029489","display_name":"Deandra Suci Nur","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136613","display_name":"Laboratoire des syst\u00e8mes et applications des technologies de l'information et de l'\u00e9nergie","ror":"https://ror.org/03vam5b06","country_code":"FR","type":"facility","lineage":["https://openalex.org/I11559806","https://openalex.org/I124158823","https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210134562","https://openalex.org/I4210136613","https://openalex.org/I4210142324","https://openalex.org/I4210154111"]},{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Dayang Nur","raw_affiliation_strings":["SATIE, Université Paris-Sud, ENS Cachan, CNRS, Université Paris-Saclay, 91405, Orsay, France","Universite Paris-Sud, Orsay, \u00c3\u017dle-de-France, FR"],"affiliations":[{"raw_affiliation_string":"SATIE, Université Paris-Sud, ENS Cachan, CNRS, Université Paris-Saclay, 91405, Orsay, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I4210136613","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Universite Paris-Sud, Orsay, \u00c3\u017dle-de-France, FR","institution_ids":["https://openalex.org/I102197404"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112249910","display_name":"Salmi Dharmiza","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210136613","display_name":"Laboratoire des syst\u00e8mes et applications des technologies de l'information et de l'\u00e9nergie","ror":"https://ror.org/03vam5b06","country_code":"FR","type":"facility","lineage":["https://openalex.org/I11559806","https://openalex.org/I124158823","https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210134562","https://openalex.org/I4210136613","https://openalex.org/I4210142324","https://openalex.org/I4210154111"]},{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Salmi Dharmiza","raw_affiliation_strings":["SATIE, Université Paris-Sud, ENS Cachan, CNRS, Université Paris-Saclay, 91405, Orsay, France","Universite Paris-Sud, Orsay, \u00c3\u017dle-de-France, FR"],"affiliations":[{"raw_affiliation_string":"SATIE, Université Paris-Sud, ENS Cachan, CNRS, Université Paris-Saclay, 91405, Orsay, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I4210136613","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Universite Paris-Sud, Orsay, \u00c3\u017dle-de-France, FR","institution_ids":["https://openalex.org/I102197404"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041059323","display_name":"Tuan Salwani Salleh","orcid":"https://orcid.org/0000-0003-0074-7529"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210136613","display_name":"Laboratoire des syst\u00e8mes et applications des technologies de l'information et de l'\u00e9nergie","ror":"https://ror.org/03vam5b06","country_code":"FR","type":"facility","lineage":["https://openalex.org/I11559806","https://openalex.org/I124158823","https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210134562","https://openalex.org/I4210136613","https://openalex.org/I4210142324","https://openalex.org/I4210154111"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Awang Salleh","raw_affiliation_strings":["SATIE, Université Paris-Sud, ENS Cachan, CNRS, Université Paris-Saclay, 91405, Orsay, France","SATIE, Universit\u00e9 Paris-Saclay, Orsay, France"],"affiliations":[{"raw_affiliation_string":"SATIE, Université Paris-Sud, ENS Cachan, CNRS, Université Paris-Saclay, 91405, Orsay, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I4210136613","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"SATIE, Universit\u00e9 Paris-Saclay, Orsay, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I4210136613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102274300","display_name":"Emmanuel Seignez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136613","display_name":"Laboratoire des syst\u00e8mes et applications des technologies de l'information et de l'\u00e9nergie","ror":"https://ror.org/03vam5b06","country_code":"FR","type":"facility","lineage":["https://openalex.org/I11559806","https://openalex.org/I124158823","https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210134562","https://openalex.org/I4210136613","https://openalex.org/I4210142324","https://openalex.org/I4210154111"]},{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Emmanuel Seignez","raw_affiliation_strings":["SATIE, Université Paris-Sud, ENS Cachan, CNRS, Université Paris-Saclay, 91405, Orsay, France","Universite Paris-Sud, Orsay, \u00c3\u017dle-de-France, FR"],"affiliations":[{"raw_affiliation_string":"SATIE, Université Paris-Sud, ENS Cachan, CNRS, Université Paris-Saclay, 91405, Orsay, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I4210136613","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Universite Paris-Sud, Orsay, \u00c3\u017dle-de-France, FR","institution_ids":["https://openalex.org/I102197404"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5113029489"],"corresponding_institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I4210136613"],"apc_list":null,"apc_paid":null,"fwci":0.7631,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84273692,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9991999864578247,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7126834988594055},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7118557691574097},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.7016100883483887},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.700721800327301},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.6687948703765869},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6610329747200012},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5958735942840576},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5601438283920288},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5300770998001099},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.47683587670326233},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.45448824763298035},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.43155354261398315},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.42786893248558044},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.42551711201667786},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4228835105895996},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32209083437919617},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17084380984306335}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7126834988594055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7118557691574097},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7016100883483887},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.700721800327301},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6687948703765869},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6610329747200012},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5958735942840576},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5601438283920288},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5300770998001099},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.47683587670326233},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.45448824763298035},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.43155354261398315},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.42786893248558044},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.42551711201667786},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4228835105895996},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32209083437919617},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17084380984306335},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarcv.2016.7838777","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838777","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01667686v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01667686","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"14th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2016, phuket, Thailand","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W1541250175","https://openalex.org/W1604206377","https://openalex.org/W1992989752","https://openalex.org/W2042154170","https://openalex.org/W2065510297","https://openalex.org/W2088061407","https://openalex.org/W2102194240","https://openalex.org/W2109635530","https://openalex.org/W2115579991","https://openalex.org/W2121420859","https://openalex.org/W2129737954","https://openalex.org/W2138997468","https://openalex.org/W2143737806","https://openalex.org/W2151477068","https://openalex.org/W2163178251","https://openalex.org/W2188955521","https://openalex.org/W2322826230","https://openalex.org/W2330972394","https://openalex.org/W2344863878","https://openalex.org/W3040777582","https://openalex.org/W4247112797","https://openalex.org/W4302293317"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2765521311","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866"],"abstract_inverted_index":{"Towards":[0],"achieving":[1],"lane-level":[2,132],"localization,":[3,24,72],"precision":[4],"and":[5,69,85,110],"accuracy":[6,28],"plays":[7],"an":[8],"important":[9],"role":[10],"in":[11,80,95,103],"vehicle":[12,58,87],"localization":[13,88,133],"efficiency.":[14],"While":[15],"Global":[16],"Positioning":[17],"System":[18],"(GPS)":[19],"is":[20,129],"usually":[21],"used":[22],"for":[23,65,131,134],"it":[25,111],"has":[26,52,112],"low":[27],"caused":[29],"by":[30,89],"signal":[31,43],"degradation":[32],"due":[33],"to":[34,56,83],"several":[35],"reasons":[36],"such":[37],"as":[38],"lack":[39],"of":[40],"well-positioned":[41],"satellites,":[42],"obstruction":[44],"or":[45],"multipath":[46],"error.":[47],"Thus,":[48],"multi-sensor":[49],"data":[50],"fusion":[51],"been":[53],"widely":[54],"studied":[55],"improve":[57],"localization.":[59,122],"By":[60],"utilizing":[61],"the":[62,118],"existing":[63],"techniques":[64],"monocular":[66],"visual":[67],"odometry":[68],"particle":[70,96,120],"filter":[71,97,121],"this":[73,127],"paper":[74],"presents":[75],"how":[76],"road":[77,91,108],"information":[78],"available":[79],"OpenStreetMap":[81],"contributes":[82],"accurate":[84],"precise":[86],"exploiting":[90],"probability":[92],"distribution":[93],"factor":[94],"implementation.":[98],"This":[99],"approach":[100,128],"was":[101],"verified":[102],"two":[104],"datasets":[105],"with":[106,117],"different":[107],"features":[109],"shown":[113],"better":[114],"performance":[115],"compared":[116],"established":[119],"As":[123],"our":[124],"results":[125],"indicate,":[126],"feasible":[130],"intelligent":[135],"vehicles.":[136]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}