{"id":"https://openalex.org/W2106976646","doi":"https://doi.org/10.1109/icip.2009.5413980","title":"Robust lane detection and tracking with ransac and Kalman filter","display_name":"Robust lane detection and tracking with ransac and Kalman filter","publication_year":2009,"publication_date":"2009-11-01","ids":{"openalex":"https://openalex.org/W2106976646","doi":"https://doi.org/10.1109/icip.2009.5413980","mag":"2106976646"},"language":"en","primary_location":{"id":"doi:10.1109/icip.2009.5413980","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icip.2009.5413980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 16th IEEE International Conference on Image Processing (ICIP)","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/A5007821427","display_name":"Amol Borkar","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amol Borkar","raw_affiliation_strings":["Center of Signal and Image Processing (CSIP, Georgia Institute of Technology, Atlanta, GA, USA","Center for Signal and Image Processing (CSIP), Georgia Institute of Technology, Atlanta, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Signal and Image Processing (CSIP, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Center for Signal and Image Processing (CSIP), Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003883627","display_name":"M.H. Hayes","orcid":"https://orcid.org/0000-0002-5252-1241"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Monson Hayes","raw_affiliation_strings":["Center of Signal and Image Processing (CSIP, Georgia Institute of Technology, Atlanta, GA, USA","Center for Signal and Image Processing (CSIP), Georgia Institute of Technology, Atlanta, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Signal and Image Processing (CSIP, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Center for Signal and Image Processing (CSIP), Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111504225","display_name":"Mark T. Smith","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Mark T. Smith","raw_affiliation_strings":["Institut f\u00f6r Till\u00e4mpad Informationsteknik, Kungliga Tekniska H\u00f6gskolan, Stockholm, Sweden","Institut f\u00f6r Till\u00e4mpad Informationsteknik, Kungliga Tekniska H\u00f6gskolan, Stockholm, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut f\u00f6r Till\u00e4mpad Informationsteknik, Kungliga Tekniska H\u00f6gskolan, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Institut f\u00f6r Till\u00e4mpad Informationsteknik, Kungliga Tekniska H\u00f6gskolan, Stockholm, Sweden#TAB#","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.4659,"has_fulltext":false,"cited_by_count":204,"citation_normalized_percentile":{"value":0.97595628,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3261","last_page":"3264"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9975000023841858,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.9450892210006714},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7972420454025269},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.772013783454895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7034718990325928},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6923812627792358},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6257146596908569},{"id":"https://openalex.org/keywords/hough-transform","display_name":"Hough transform","score":0.5603941082954407},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5144105553627014},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5037464499473572},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.46465200185775757},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4288439154624939},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.195932537317276}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.9450892210006714},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7972420454025269},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.772013783454895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7034718990325928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6923812627792358},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6257146596908569},{"id":"https://openalex.org/C200518788","wikidata":"https://www.wikidata.org/wiki/Q195076","display_name":"Hough transform","level":3,"score":0.5603941082954407},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5144105553627014},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5037464499473572},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.46465200185775757},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4288439154624939},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.195932537317276},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icip.2009.5413980","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icip.2009.5413980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 16th IEEE International Conference on Image Processing (ICIP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2033819227","https://openalex.org/W2041940848","https://openalex.org/W2085261163","https://openalex.org/W2103866601","https://openalex.org/W2123345555","https://openalex.org/W2125022378","https://openalex.org/W2129441664","https://openalex.org/W2136929315","https://openalex.org/W2145043262","https://openalex.org/W2162194504","https://openalex.org/W2169886432","https://openalex.org/W6684793000"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W2981196697","https://openalex.org/W3012182724","https://openalex.org/W2115876589","https://openalex.org/W2769402452","https://openalex.org/W2091258128","https://openalex.org/W1983540692","https://openalex.org/W2385286892","https://openalex.org/W2350927655"],"abstract_inverted_index":{"In":[0],"a":[1,4,33,56],"previous":[2],"paper,":[3],"simple":[5],"approach":[6],"to":[7,31,43,48,59],"lane":[8,66],"detection":[9],"using":[10],"the":[11,37,53,62,65],"Hough":[12],"transform":[13],"and":[14,50,55],"iterated":[15],"matched":[16],"filters":[17],"was":[18],"described.":[19],"This":[20],"paper":[21],"extends":[22],"this":[23],"work":[24],"by":[25],"incorporating":[26],"an":[27],"inverse":[28],"perspective":[29],"mapping":[30],"create":[32],"bird's-eye":[34],"view":[35],"of":[36,64],"road,":[38,54],"applying":[39],"random":[40],"sample":[41],"consensus":[42],"help":[44,60],"eliminate":[45],"outliers":[46],"due":[47],"noise":[49],"artifacts":[51],"in":[52],"Kalman":[57],"filter":[58],"smooth":[61],"output":[63],"tracker.":[67]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":27},{"year":2020,"cited_by_count":19},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":7}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
