{"id":"https://openalex.org/W3144916399","doi":"https://doi.org/10.1109/icra.2012.6224585","title":"Generative object detection and tracking in 3D range data","display_name":"Generative object detection and tracking in 3D range data","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W3144916399","doi":"https://doi.org/10.1109/icra.2012.6224585","mag":"3144916399"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224585","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224585","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5072156121","display_name":"Ralf Kaestner","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Ralf Kaestner","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088271801","display_name":"J\u00e9r\u00f4me Maye","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jerome Maye","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057417655","display_name":"Yves Pilat","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Yves Pilat","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072156121"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":4.1182,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.94963416,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3075","last_page":"3081"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9944000244140625,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9828000068664551,"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/discriminative-model","display_name":"Discriminative model","score":0.848609447479248},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7668535709381104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7383390665054321},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6772149205207825},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6391067504882812},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.5983513593673706},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5831528306007385},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5723992586135864},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5479922890663147},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5437894463539124},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.537132203578949},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.4915388524532318},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4858340919017792},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4789881706237793},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4270055890083313},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16122865676879883},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1408887505531311},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08451282978057861}],"concepts":[{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.848609447479248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7668535709381104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7383390665054321},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6772149205207825},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6391067504882812},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.5983513593673706},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5831528306007385},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5723992586135864},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5479922890663147},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5437894463539124},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.537132203578949},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.4915388524532318},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4858340919017792},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4789881706237793},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4270055890083313},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16122865676879883},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1408887505531311},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08451282978057861},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6224585","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224585","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1494596645","https://openalex.org/W1601795611","https://openalex.org/W1772558542","https://openalex.org/W1997937132","https://openalex.org/W2016936259","https://openalex.org/W2023512120","https://openalex.org/W2041600899","https://openalex.org/W2043107250","https://openalex.org/W2044164936","https://openalex.org/W2066832919","https://openalex.org/W2102691275","https://openalex.org/W2105934661","https://openalex.org/W2111918405","https://openalex.org/W2111957821","https://openalex.org/W2118021859","https://openalex.org/W2124781496","https://openalex.org/W2127923214","https://openalex.org/W2143385397","https://openalex.org/W2152845613","https://openalex.org/W4255469293","https://openalex.org/W6637891434","https://openalex.org/W6677786781","https://openalex.org/W6842594352"],"related_works":["https://openalex.org/W2987280934","https://openalex.org/W2093104230","https://openalex.org/W4390874210","https://openalex.org/W4384918963","https://openalex.org/W4365211920","https://openalex.org/W2128027845","https://openalex.org/W4386184937","https://openalex.org/W3014948380","https://openalex.org/W1493875009","https://openalex.org/W2751624083"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,55,91,112],"novel":[4],"approach":[5,137],"to":[6,28,42,52,121,128,143],"tracking":[7,43,101,132],"dynamic":[8,109],"objects":[9,31],"in":[10,18,86,107],"3D":[11],"range":[12,57],"data.":[13],"Its":[14],"key":[15],"contribution":[16],"lies":[17],"the":[19,26,38,65,74,77,81,87,131,135],"generative":[20,66],"object":[21,59,98],"detection":[22,88,99],"algorithm":[23,102],"which":[24,140],"allows":[25],"tracker":[27],"robustly":[29],"extract":[30],"of":[32,58,80,115,134],"varying":[33],"sizes":[34],"and":[35,76,100],"shapes":[36],"from":[37],"observations.":[39],"In":[40],"contrast":[41],"methods":[44],"using":[45],"discriminative":[46,145],"detectors,":[47],"we":[48,125],"are":[49,126,141],"thus":[50],"able":[51,127],"generalize":[53],"over":[54],"wide":[56],"classes":[60],"matching":[61],"our":[62,69,96],"assumptions.":[63],"Whilst":[64],"model":[67],"underlying":[68],"framework":[70],"inherently":[71],"scales":[72],"with":[73],"complexity":[75],"noise":[78],"characteristics":[79],"environment,":[82],"all":[83],"parameters":[84],"involved":[85],"process":[89],"obey":[90],"clean":[92],"probabilistic":[93],"interpretation.":[94],"Nevertheless,":[95],"unsupervised":[97],"achieves":[103],"real-time":[104],"performance,":[105],"even":[106],"highly":[108],"scenarios":[110],"covering":[111],"significant":[113],"amount":[114],"moving":[116],"objects.":[117],"Through":[118],"an":[119],"application":[120],"populated":[122],"urban":[123],"settings,":[124],"show":[129],"that":[130],"performance":[133],"presented":[136],"yields":[138],"results":[139],"comparable":[142],"state-of-the-art":[144],"methods.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
