{"id":"https://openalex.org/W2907294593","doi":"https://doi.org/10.1109/icarcv.2018.8581330","title":"Robust Online Obstacle Detection and Tracking for Collision-Free Navigation of Multirotor UAVs in Complex Environments","display_name":"Robust Online Obstacle Detection and Tracking for Collision-Free Navigation of Multirotor UAVs in Complex Environments","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2907294593","doi":"https://doi.org/10.1109/icarcv.2018.8581330","mag":"2907294593"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2018.8581330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://orbilu.uni.lu/handle/10993/38138","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100340936","display_name":"Min Wang","orcid":"https://orcid.org/0000-0002-7571-1662"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Min Wang","raw_affiliation_strings":["Automation and Robotics Research Group, University of Luxembourg, Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Robotics Research Group, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049772606","display_name":"Holger Voos","orcid":"https://orcid.org/0000-0002-9600-8386"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Holger Voos","raw_affiliation_strings":["Automation and Robotics Research Group, University of Luxembourg, Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Robotics Research Group, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077300945","display_name":"Daobilige Su","orcid":"https://orcid.org/0000-0001-7395-5367"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Daobilige Su","raw_affiliation_strings":["Australian Center for Field Robotics (ACFR), University of Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Center for Field Robotics (ACFR), University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.3593,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.98064511,"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":"1228","last_page":"1234"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9983999729156494,"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/multirotor","display_name":"Multirotor","score":0.805039644241333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7712595462799072},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6754343509674072},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6192352175712585},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5876598358154297},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5835519433021545},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5621363520622253},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4878371059894562},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.48613616824150085},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4711557626724243},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4542770981788635},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4410964548587799},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4368702471256256},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3422764837741852},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30869677662849426},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2653179466724396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1297517716884613},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.11369156837463379},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08324077725410461},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07749772071838379}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.805039644241333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7712595462799072},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6754343509674072},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6192352175712585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5876598358154297},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5835519433021545},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5621363520622253},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4878371059894562},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.48613616824150085},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4711557626724243},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4542770981788635},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4410964548587799},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4368702471256256},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3422764837741852},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30869677662849426},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2653179466724396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1297517716884613},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.11369156837463379},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08324077725410461},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07749772071838379},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarcv.2018.8581330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:orbilu.uni.lu:10993/38138","is_oa":true,"landing_page_url":"http://orbilu.uni.lu/handle/10993/38138","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"15th International Conference on Control, Automation, Robotics and Vision (ICARCV), Singapore 18-21 November 2018, 1228 - 1234 (2018); The 15th International Conference on Control, Automation, Robotics and Vision, Singapore, Singapore [SG], from 18-11-2018 to 21-11-2018","raw_type":"http://purl.org/coar/resource_type/c_5794"}],"best_oa_location":{"id":"pmh:oai:orbilu.uni.lu:10993/38138","is_oa":true,"landing_page_url":"http://orbilu.uni.lu/handle/10993/38138","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"15th International Conference on Control, Automation, Robotics and Vision (ICARCV), Singapore 18-21 November 2018, 1228 - 1234 (2018); The 15th International Conference on Control, Automation, Robotics and Vision, Singapore, Singapore [SG], from 18-11-2018 to 21-11-2018","raw_type":"http://purl.org/coar/resource_type/c_5794"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W272376289","https://openalex.org/W1501845490","https://openalex.org/W1937095328","https://openalex.org/W1994114209","https://openalex.org/W2020302800","https://openalex.org/W2031031248","https://openalex.org/W2106138206","https://openalex.org/W2112441941","https://openalex.org/W2119417818","https://openalex.org/W2126011766","https://openalex.org/W2126742341","https://openalex.org/W2159021170","https://openalex.org/W2163943109","https://openalex.org/W2417278911","https://openalex.org/W2547032273","https://openalex.org/W2565627506","https://openalex.org/W2598842974","https://openalex.org/W2599520707","https://openalex.org/W2611290840","https://openalex.org/W2623680293","https://openalex.org/W2743480355","https://openalex.org/W2784253469","https://openalex.org/W4285719527","https://openalex.org/W6640625298","https://openalex.org/W6675977214"],"related_works":["https://openalex.org/W2767303851","https://openalex.org/W2785353696","https://openalex.org/W4362694680","https://openalex.org/W4285043412","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2355860162"],"abstract_inverted_index":{"Object":[0],"detection":[1],"and":[2,19,76,100,120,122],"tracking":[3,123],"is":[4,49,91,109],"a":[5,44,52,74,87],"challenging":[6],"task,":[7],"especially":[8],"for":[9,28],"unmanned":[10],"aerial":[11],"robots":[12],"in":[13,36,58,83,86,95,102],"complex":[14],"environments":[15],"where":[16],"both":[17,98],"static":[18,119],"dynamic":[20,124],"objects":[21,82,114,125],"are":[22],"present.":[23],"It":[24],"is,":[25],"however,":[26],"essential":[27],"ensuring":[29],"safety":[30],"of":[31,61,97,112],"the":[32,59,63,81,84,105],"robot":[33],"during":[34],"navigation":[35],"such":[37,117],"environments.":[38],"In":[39],"this":[40],"work":[41],"we":[42],"present":[43],"practical":[45],"online":[46],"approach":[47,72,108],"which":[48,90],"based":[50],"on":[51],"2D":[53,66],"LIDAR.":[54],"Unlike":[55],"common":[56],"approaches":[57],"literature":[60],"modeling":[62],"environment":[64,85],"as":[65,118,126,128],"or":[67],"3D":[68],"occupancy":[69],"grids,":[70],"our":[71],"offers":[73],"fast":[75],"robust":[77],"method":[78],"to":[79],"represent":[80],"compact":[88],"form,":[89],"significantly":[92],"more":[93],"efficient":[94],"terms":[96],"memory":[99],"computation":[101],"comparison":[103],"with":[104,132],"former.":[106],"Our":[107],"also":[110],"capable":[111],"classifying":[113],"into":[115],"categories":[116],"dynamic,":[121],"well":[127],"estimating":[129],"their":[130],"velocities":[131],"reasonable":[133],"accuracy.":[134]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
