{"id":"https://openalex.org/W1568988877","doi":"https://doi.org/10.1109/icra.2015.7139578","title":"Fast and robust vehicle positioning on graph-based representation of drivable maps","display_name":"Fast and robust vehicle positioning on graph-based representation of drivable maps","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1568988877","doi":"https://doi.org/10.1109/icra.2015.7139578","mag":"1568988877"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139578","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","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/A5069539157","display_name":"Pierre Merriaux","orcid":"https://orcid.org/0000-0002-7776-7854"},"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"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"P. Merriaux","raw_affiliation_strings":["IRSEEM, ESIGELEC, Saint-Etienne-du-Rouvray, France","IRSEEM, ESIGELEC, 76800 Saint-Etienne-du-Rouvray, France"],"affiliations":[{"raw_affiliation_string":"IRSEEM, ESIGELEC, Saint-Etienne-du-Rouvray, France","institution_ids":["https://openalex.org/I2802505300"]},{"raw_affiliation_string":"IRSEEM, ESIGELEC, 76800 Saint-Etienne-du-Rouvray, France","institution_ids":["https://openalex.org/I2802505300"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018852344","display_name":"Yohan Dupuis","orcid":"https://orcid.org/0000-0002-9725-2049"},"institutions":[{"id":"https://openalex.org/I4210160565","display_name":"Centre d'\u00c9tudes et d'Expertise sur les Risques, l'Environnement, la Mobilit\u00e9 et l'Am\u00e9nagement","ror":"https://ror.org/05k0nvr25","country_code":"FR","type":"government","lineage":["https://openalex.org/I2802818602","https://openalex.org/I4210092945","https://openalex.org/I4210160565"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Dupuis","raw_affiliation_strings":["Department of Multimodal Transportation Infrastructure, Le Grand Quevilly, France","Department of Multimodal Transportation Infrastructure, CEREMA, 76120 Le Grand Quevilly, France"],"affiliations":[{"raw_affiliation_string":"Department of Multimodal Transportation Infrastructure, Le Grand Quevilly, France","institution_ids":[]},{"raw_affiliation_string":"Department of Multimodal Transportation Infrastructure, CEREMA, 76120 Le Grand Quevilly, France","institution_ids":["https://openalex.org/I4210160565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010705731","display_name":"Pascal Vasseur","orcid":"https://orcid.org/0000-0001-5145-9653"},"institutions":[{"id":"https://openalex.org/I4210108118","display_name":"Laboratoire d'Informatique, du Traitement de l'Information et des Syst\u00e8mes","ror":"https://ror.org/01f1vfy95","country_code":"FR","type":"facility","lineage":["https://openalex.org/I141576021","https://openalex.org/I4210105918","https://openalex.org/I4210105918","https://openalex.org/I4210105918","https://openalex.org/I4210108118","https://openalex.org/I62396329","https://openalex.org/I88814501"]},{"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":"P. Vasseur","raw_affiliation_strings":["LITIS Lab, University of Rouen, Saint-Etienne-du-Rouvray, France","LITIS Lab, University of Rouen, 76821 Saint-Etienne-du-Rouvray, France"],"affiliations":[{"raw_affiliation_string":"LITIS Lab, University of Rouen, Saint-Etienne-du-Rouvray, France","institution_ids":["https://openalex.org/I4210108118"]},{"raw_affiliation_string":"LITIS Lab, University of Rouen, 76821 Saint-Etienne-du-Rouvray, France","institution_ids":["https://openalex.org/I4210108118","https://openalex.org/I62396329"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069505366","display_name":"Xavier Savatier","orcid":"https://orcid.org/0000-0003-2494-8595"},"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"X. Savatier","raw_affiliation_strings":["IRSEEM, ESIGELEC, Saint-Etienne-du-Rouvray, France","IRSEEM, ESIGELEC, 76800 Saint-Etienne-du-Rouvray, France"],"affiliations":[{"raw_affiliation_string":"IRSEEM, ESIGELEC, Saint-Etienne-du-Rouvray, France","institution_ids":["https://openalex.org/I2802505300"]},{"raw_affiliation_string":"IRSEEM, ESIGELEC, 76800 Saint-Etienne-du-Rouvray, France","institution_ids":["https://openalex.org/I2802505300"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069539157"],"corresponding_institution_ids":["https://openalex.org/I2802505300"],"apc_list":null,"apc_paid":null,"fwci":1.801,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.86219976,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2787","last_page":"2793"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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/T11106","display_name":"Data Management and Algorithms","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/computer-science","display_name":"Computer science","score":0.6827660799026489},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6743060350418091},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6289641857147217},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5971826314926147},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5785477161407471},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5361838936805725},{"id":"https://openalex.org/keywords/road-map","display_name":"Road map","score":0.5066850781440735},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4990119934082031},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.47476887702941895},{"id":"https://openalex.org/keywords/precise-point-positioning","display_name":"Precise Point Positioning","score":0.4741244316101074},{"id":"https://openalex.org/keywords/vehicle-tracking-system","display_name":"Vehicle tracking system","score":0.4375568628311157},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.19028416275978088},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14477527141571045},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.12602266669273376},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.08616167306900024},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.07136216759681702}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6827660799026489},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6743060350418091},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6289641857147217},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5971826314926147},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5785477161407471},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5361838936805725},{"id":"https://openalex.org/C188048851","wikidata":"https://www.wikidata.org/wiki/Q2298569","display_name":"Road map","level":2,"score":0.5066850781440735},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4990119934082031},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.47476887702941895},{"id":"https://openalex.org/C202511199","wikidata":"https://www.wikidata.org/wiki/Q7239503","display_name":"Precise Point Positioning","level":4,"score":0.4741244316101074},{"id":"https://openalex.org/C84119951","wikidata":"https://www.wikidata.org/wiki/Q3498530","display_name":"Vehicle tracking system","level":3,"score":0.4375568628311157},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.19028416275978088},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14477527141571045},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.12602266669273376},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.08616167306900024},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.07136216759681702},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139578","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01871012v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01871012","pdf_url":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, France. ⟨10.1109/ICRA.2015.7139578⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W606297877","https://openalex.org/W1484387568","https://openalex.org/W2054969198","https://openalex.org/W2097427210","https://openalex.org/W2101805040","https://openalex.org/W2119539043","https://openalex.org/W2151477068","https://openalex.org/W2158955189","https://openalex.org/W2226472208","https://openalex.org/W2336416123","https://openalex.org/W6683282899"],"related_works":["https://openalex.org/W2091397552","https://openalex.org/W2207232772","https://openalex.org/W2620594456","https://openalex.org/W3092822964","https://openalex.org/W2050041763","https://openalex.org/W2168263645","https://openalex.org/W2129049645","https://openalex.org/W2170572553","https://openalex.org/W614056693","https://openalex.org/W2048476425"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4,16],"a":[5,44,48,66,82,89],"car":[6,19,73],"positioning":[7,30,36,56,74],"approach":[8],"that":[9,53],"does":[10],"not":[11],"rely":[12],"on":[13,43,88],"GPS.":[14],"We":[15,51,71],"to":[17,27],"use":[18],"wheel":[20],"speeds":[21],"and":[22,59],"road":[23,49,86],"maps":[24],"in":[25],"order":[26],"achieve":[28,72],"robust":[29,60],"of":[31,47],"the":[32,54],"vehicle.":[33],"The":[34],"vehicle":[35,55],"is":[37,57],"achieved":[38],"by":[39],"applying":[40],"particle":[41],"filtering":[42],"graph-based":[45],"representation":[46],"map.":[50],"show":[52],"feasible":[58],"with":[61,75],"these":[62],"two":[63],"inputs":[64],"at":[65],"really":[67],"low":[68],"computational":[69],"cost.":[70],"an":[76],"averaged":[77],"5":[78],"m":[79],"accuracy":[80],"within":[81],"100":[83],"km":[84,91],"drivable":[85],"map":[87],"12":[90],"sequence.":[92]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}