{"id":"https://openalex.org/W4407241863","doi":"https://doi.org/10.1109/icnsc66229.2025.00035","title":"Weighted Least-Squares Multi-Detection Fusion and Kalman Filter-Based Tracking for Collaborative Perception Systems","display_name":"Weighted Least-Squares Multi-Detection Fusion and Kalman Filter-Based Tracking for Collaborative Perception Systems","publication_year":2025,"publication_date":"2025-10-01","ids":{"openalex":"https://openalex.org/W4407241863","doi":"https://doi.org/10.1109/icnsc66229.2025.00035"},"language":"en","primary_location":{"id":"doi:10.1109/icnsc66229.2025.00035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc66229.2025.00035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Networking, Sensing and Control (ICNSC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04910986v1/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114564793","display_name":"Maryem Fadili","orcid":null},"institutions":[{"id":"https://openalex.org/I4210108314","display_name":"VeDeCoM Institute","ror":"https://ror.org/01ssrp339","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4210108314"]},{"id":"https://openalex.org/I4392021201","display_name":"Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s","ror":"https://ror.org/00y3jmn59","country_code":null,"type":"facility","lineage":["https://openalex.org/I2802505300","https://openalex.org/I4210105918","https://openalex.org/I4392021201","https://openalex.org/I62396329"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Maryem Fadili","raw_affiliation_strings":["VEDECOM,Versailles,78000","IRSEEM - Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s (Technop\u00f4le du Madrillet - Avenue Galil\u00e9e - BP 10024 - 76801 Saint-Etienne du Rouvray Cedex - France)","Institut VEDECOM (77 rue des Chantiers\r\n78000 VERSAILLES - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"VEDECOM,Versailles,78000","institution_ids":["https://openalex.org/I4210108314"]},{"raw_affiliation_string":"IRSEEM - Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s (Technop\u00f4le du Madrillet - Avenue Galil\u00e9e - BP 10024 - 76801 Saint-Etienne du Rouvray Cedex - France)","institution_ids":["https://openalex.org/I4392021201"]},{"raw_affiliation_string":"Institut VEDECOM (77 rue des Chantiers\r\n78000 VERSAILLES - France)","institution_ids":["https://openalex.org/I4210108314"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053915788","display_name":"Louis Lecrosnier","orcid":"https://orcid.org/0000-0001-8570-3781"},"institutions":[{"id":"https://openalex.org/I2802505300","display_name":"\u00c9cole Sup\u00e9rieure d'Ing\u00e9nieurs en G\u00e9nie \u00c9lectrique","ror":"https://ror.org/01apwkd48","country_code":"FR","type":"education","lineage":["https://openalex.org/I2802505300"]},{"id":"https://openalex.org/I4210108314","display_name":"VeDeCoM Institute","ror":"https://ror.org/01ssrp339","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4210108314"]},{"id":"https://openalex.org/I62396329","display_name":"Universit\u00e9 de Rouen Normandie","ror":"https://ror.org/03nhjew95","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I62396329"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Louis Lecrosnier","raw_affiliation_strings":["Université Rouen Normandie / ESIGELEC / IRSEEM,Saint-Etienne du Rouvray,76801","Institut VEDECOM (77 rue des Chantiers\r\n78000 VERSAILLES - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université Rouen Normandie / ESIGELEC / IRSEEM,Saint-Etienne du Rouvray,76801","institution_ids":["https://openalex.org/I62396329","https://openalex.org/I2802505300"]},{"raw_affiliation_string":"Institut VEDECOM (77 rue des Chantiers\r\n78000 VERSAILLES - France)","institution_ids":["https://openalex.org/I4210108314"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006393121","display_name":"Redouane Khemmar","orcid":"https://orcid.org/0000-0002-6230-2966"},"institutions":[{"id":"https://openalex.org/I2802505300","display_name":"\u00c9cole Sup\u00e9rieure d'Ing\u00e9nieurs en G\u00e9nie \u00c9lectrique","ror":"https://ror.org/01apwkd48","country_code":"FR","type":"education","lineage":["https://openalex.org/I2802505300"]},{"id":"https://openalex.org/I4392021201","display_name":"Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s","ror":"https://ror.org/00y3jmn59","country_code":null,"type":"facility","lineage":["https://openalex.org/I2802505300","https://openalex.org/I4210105918","https://openalex.org/I4392021201","https://openalex.org/I62396329"]},{"id":"https://openalex.org/I62396329","display_name":"Universit\u00e9 de Rouen Normandie","ror":"https://ror.org/03nhjew95","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I62396329"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Redouane Khemmar","raw_affiliation_strings":["Université Rouen Normandie / ESIGELEC / IRSEEM,Saint-Etienne du Rouvray,76801","IRSEEM - Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s (Technop\u00f4le du Madrillet - Avenue Galil\u00e9e - BP 10024 - 76801 Saint-Etienne du Rouvray Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université Rouen Normandie / ESIGELEC / IRSEEM,Saint-Etienne du Rouvray,76801","institution_ids":["https://openalex.org/I62396329","https://openalex.org/I2802505300"]},{"raw_affiliation_string":"IRSEEM - Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s (Technop\u00f4le du Madrillet - Avenue Galil\u00e9e - BP 10024 - 76801 Saint-Etienne du Rouvray Cedex - France)","institution_ids":["https://openalex.org/I4392021201"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013717041","display_name":"Steve Pechberti","orcid":"https://orcid.org/0000-0003-3180-7424"},"institutions":[{"id":"https://openalex.org/I4210108314","display_name":"VeDeCoM Institute","ror":"https://ror.org/01ssrp339","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4210108314"]},{"id":"https://openalex.org/I4392021201","display_name":"Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s","ror":"https://ror.org/00y3jmn59","country_code":null,"type":"facility","lineage":["https://openalex.org/I2802505300","https://openalex.org/I4210105918","https://openalex.org/I4392021201","https://openalex.org/I62396329"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Steve Pechberti","raw_affiliation_strings":["VEDECOM,Versailles,78000","IRSEEM - Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s (Technop\u00f4le du Madrillet - Avenue Galil\u00e9e - BP 10024 - 76801 Saint-Etienne du Rouvray Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"VEDECOM,Versailles,78000","institution_ids":["https://openalex.org/I4210108314"]},{"raw_affiliation_string":"IRSEEM - Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s (Technop\u00f4le du Madrillet - Avenue Galil\u00e9e - BP 10024 - 76801 Saint-Etienne du Rouvray Cedex - France)","institution_ids":["https://openalex.org/I4392021201"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00789041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"160","last_page":"167"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9304999709129333,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/kalman-filter","display_name":"Kalman filter","score":0.8139023184776306},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5519100427627563},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5478163361549377},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5363847613334656},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5042115449905396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5020394325256348},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.4960719048976898},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46788281202316284},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4020128548145294},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34125250577926636},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2791309952735901},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.17198136448860168},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.16878455877304077},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.04622355103492737}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8139023184776306},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5519100427627563},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5478163361549377},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5363847613334656},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5042115449905396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5020394325256348},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.4960719048976898},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46788281202316284},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4020128548145294},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34125250577926636},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2791309952735901},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.17198136448860168},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.16878455877304077},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.04622355103492737},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icnsc66229.2025.00035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icnsc66229.2025.00035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Networking, Sensing and Control (ICNSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04910986v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04910986","pdf_url":"https://hal.science/hal-04910986v1/document","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2025","raw_type":"Preprints, Working Papers, ..."}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04910986v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04910986","pdf_url":"https://hal.science/hal-04910986v1/document","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2025","raw_type":"Preprints, Working Papers, ..."},"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4407241863.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2103761320","https://openalex.org/W2358167375","https://openalex.org/W116564642","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W2078821596","https://openalex.org/W1981649169","https://openalex.org/W1983380679","https://openalex.org/W2547078080","https://openalex.org/W3214791684"],"abstract_inverted_index":{"In":[0],"autonomous":[1,54],"driving,":[2],"research":[3],"has":[4],"been":[5],"focusing":[6],"on":[7,139],"deep":[8],"learning":[9],"methods":[10],"for":[11,83],"collaborative":[12,81,113],"perception":[13,20],"to":[14,36,58,64,119,132,175],"address":[15],"the":[16,92,120,125,134,149],"limitations":[17],"of":[18,124,136,151,163],"individual":[19],"systems.":[21],"While":[22],"these":[23],"algorithms":[24],"achieve":[25],"high":[26],"accuracy,":[27],"they":[28],"require":[29],"significant":[30],"communication":[31,59],"bandwidth":[32],"and":[33,43,52,61,86,100,141,171],"open":[34],"access":[35],"each":[37],"agent's":[38],"object":[39],"detection":[40,137],"model":[41],"design":[42],"parameters.":[44],"Such":[45],"requirements":[46],"limit":[47],"their":[48,70],"applicability":[49],"in":[50,102,144,154,181],"real-time":[51],"real-world":[53],"driving":[55],"scenarios":[56,156],"due":[57],"constraints":[60],"agents'":[62],"need":[63],"preserve":[65],"intellectual":[66],"property":[67],"rights":[68],"over":[69],"solutions.":[71],"To":[72],"overcome":[73],"this":[74],"challenge,":[75],"we":[76],"propose":[77],"a":[78,111,145],"novel":[79],"late":[80],"framework":[82,167],"multi-detection":[84],"fusion":[85,140],"multi-object":[87],"tracking":[88,142],"that":[89],"only":[90],"requires":[91],"2":[93],"D":[94],"bounding":[95],"box":[96],"category,":[97],"size,":[98],"position,":[99],"orientation":[101],"bird's-eye-view":[103],"projection":[104],"plane.":[105],"We":[106],"evaluate":[107],"our":[108,152],"solution":[109],"using":[110],"custom":[112],"dataset":[114],"generated":[115],"by":[116],"adding":[117],"noise":[118],"ground":[121],"truth":[122],"annotations":[123],"nuScenes":[126],"database.":[127],"This":[128],"setup":[129],"allows":[130],"us":[131],"assess":[133],"impact":[135],"uncertainties":[138],"performance":[143],"constrained":[146],"environment,":[147],"evaluating":[148],"robustness":[150],"approach":[153],"real-life":[155],"where":[157],"agents":[158],"may":[159],"provide":[160],"varying":[161],"levels":[162],"information":[164],"quality.":[165],"Our":[166],"demonstrates":[168],"robust":[169],"quantitative":[170],"qualitative":[172],"results":[173],"compared":[174],"state-of-the-art":[176],"methods,":[177],"validating":[178],"its":[179],"effectiveness":[180],"realistic,":[182],"noisy":[183],"scenarios.":[184]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-02-07T00:00:00"}