{"id":"https://openalex.org/W4315472299","doi":"https://doi.org/10.1109/icarcv57592.2022.10004377","title":"A New Approach on Simultaneous Occupancy Grid Mapping and Particle-based Road Boundary Mapping for Autonomous Vehicles","display_name":"A New Approach on Simultaneous Occupancy Grid Mapping and Particle-based Road Boundary Mapping for Autonomous Vehicles","publication_year":2022,"publication_date":"2022-12-11","ids":{"openalex":"https://openalex.org/W4315472299","doi":"https://doi.org/10.1109/icarcv57592.2022.10004377"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv57592.2022.10004377","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icarcv57592.2022.10004377","pdf_url":null,"source":{"id":"https://openalex.org/S4363608251","display_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5043459087","display_name":"Mukhlas Adib Rasyidy","orcid":"https://orcid.org/0000-0002-8855-9081"},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Mukhlas A. Rasyidy","raw_affiliation_strings":["Institut Teknologi Bandung,Instrumentation and Control Research Group,Bandung,Indonesia,40132"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut Teknologi Bandung,Instrumentation and Control Research Group,Bandung,Indonesia,40132","institution_ids":["https://openalex.org/I134635517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022381042","display_name":"Yul Yunazwin Nazaruddin","orcid":"https://orcid.org/0000-0003-1636-176X"},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Yul Y. Nazaruddin","raw_affiliation_strings":["Institut Teknologi Bandung,Instrumentation and Control Research Group,Bandung,Indonesia,40132","National Center for Sustainable Transportation Technology, Bandung, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut Teknologi Bandung,Instrumentation and Control Research Group,Bandung,Indonesia,40132","institution_ids":["https://openalex.org/I134635517"]},{"raw_affiliation_string":"National Center for Sustainable Transportation Technology, Bandung, Indonesia","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037960928","display_name":"Augie Widyotriatmo","orcid":"https://orcid.org/0000-0003-3526-0905"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Augie Widyotriatmo","raw_affiliation_strings":["National Center for Sustainable Transportation Technology,Bandung,Indonesia,40132"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Center for Sustainable Transportation Technology,Bandung,Indonesia,40132","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.27729669,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"435","last_page":"440"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9937000274658203,"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/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.9049727916717529},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6639266610145569},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6401186585426331},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.6251391172409058},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.596497654914856},{"id":"https://openalex.org/keywords/road-map","display_name":"Road map","score":0.5896090269088745},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5837714076042175},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.5541370511054993},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5387901067733765},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48073816299438477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4519195854663849},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3846685588359833},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3501841425895691},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19372960925102234},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1640477180480957},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10675257444381714},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07458972930908203}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.9049727916717529},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6639266610145569},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6401186585426331},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.6251391172409058},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.596497654914856},{"id":"https://openalex.org/C188048851","wikidata":"https://www.wikidata.org/wiki/Q2298569","display_name":"Road map","level":2,"score":0.5896090269088745},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5837714076042175},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.5541370511054993},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5387901067733765},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48073816299438477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4519195854663849},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3846685588359833},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3501841425895691},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19372960925102234},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1640477180480957},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10675257444381714},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07458972930908203},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv57592.2022.10004377","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icarcv57592.2022.10004377","pdf_url":null,"source":{"id":"https://openalex.org/S4363608251","display_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W108464071","https://openalex.org/W1942635339","https://openalex.org/W2095593770","https://openalex.org/W2120660345","https://openalex.org/W2145951052","https://openalex.org/W2154418813","https://openalex.org/W2164262183","https://openalex.org/W2169528473","https://openalex.org/W2328780420","https://openalex.org/W2535987423","https://openalex.org/W2792919579","https://openalex.org/W2806340142","https://openalex.org/W2889923199","https://openalex.org/W2891397324","https://openalex.org/W2922326277","https://openalex.org/W2973962935","https://openalex.org/W3047375952","https://openalex.org/W3083132919","https://openalex.org/W3111309163","https://openalex.org/W3209131888","https://openalex.org/W4295719664","https://openalex.org/W4304109040","https://openalex.org/W6745935785"],"related_works":["https://openalex.org/W4319458852","https://openalex.org/W2515381329","https://openalex.org/W3035974924","https://openalex.org/W4315472299","https://openalex.org/W4382982865","https://openalex.org/W4377193829","https://openalex.org/W4386160467","https://openalex.org/W2586560793","https://openalex.org/W2055247968","https://openalex.org/W1973979427"],"abstract_inverted_index":{"This":[0],"paper":[1,171],"describes":[2],"a":[3,66,84],"method":[4,174],"of":[5,15,33,109,148,165,190],"environment":[6,151],"mapping":[7,141],"for":[8,43,55],"autonomous":[9],"vehicles":[10],"that":[11,40,135],"takes":[12],"the":[13,16,26,48,72,75,102,106,120,136,145,149,157,163,173,177,182,188,191],"advantages":[14],"high-definition":[17],"dense":[18],"local":[19,45],"map":[20,24,38,53,62,78,147,180],"and":[21,47,125],"sparse":[22,50],"global":[23,57,138,146],"at":[25],"same":[27],"time.":[28],"The":[29,59,153],"proposed":[30,137,158],"system":[31,142],"consists":[32],"two":[34],"estimators,":[35],"occupancy":[36,60,107],"grid":[37,61,183,192],"estimator":[39,54,79],"is":[41,63,80,94],"suitable":[42],"online":[44],"navigation":[46],"new":[49],"road":[51,76,139,166,178],"boundary":[52,77,140,167,179],"long-term":[56],"mapping.":[58,193],"estimated":[64],"with":[65],"common":[67],"Bayesian":[68],"inference":[69],"method.":[70],"On":[71],"other":[73],"hand,":[74],"built":[81],"based":[82],"on":[83],"simple":[85],"particle":[86,154],"filter":[87,155],"algorithm":[88,103,159],"which,":[89],"compared":[90],"to":[91,104,175],"grid-based":[92],"map,":[93,184],"memory":[95],"efficient":[96],"as":[97],"it":[98],"does":[99],"not":[100],"require":[101],"maintain":[105],"state":[108],"each":[110],"point":[111],"in":[112,130,156],"space.":[113],"Both":[114],"estimations":[115],"are":[116],"performed":[117],"by":[118],"fusing":[119],"information":[121],"from":[122],"both":[123],"LiDAR":[124],"camera":[126],"sensors.":[127],"Our":[128],"tests":[129],"Carla":[131],"Simulator":[132],"have":[133],"shown":[134],"can":[143,160,186],"construct":[144],"test":[150],"well.":[152],"also":[161],"reduce":[162],"error":[164],"estimation.":[168],"Moreover,":[169],"this":[170],"provides":[172],"fuse":[176],"into":[181],"which":[185],"improve":[187],"accuracy":[189]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}