{"id":"https://openalex.org/W2411443472","doi":"https://doi.org/10.1109/icra.2016.7487766","title":"On multi-modal people tracking from mobile platforms in very crowded and dynamic environments","display_name":"On multi-modal people tracking from mobile platforms in very crowded and dynamic environments","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2411443472","doi":"https://doi.org/10.1109/icra.2016.7487766","mag":"2411443472"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487766","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5084203306","display_name":"Timm Linder","orcid":"https://orcid.org/0000-0001-8532-0262"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Timm Linder","raw_affiliation_strings":["Social Robotics Laboratory, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Social Robotics Laboratory, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021705074","display_name":"Stefan Breuers","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Breuers","raw_affiliation_strings":["Visual Computing Institute, RWTH Aachen University, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Visual Computing Institute, RWTH Aachen University, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071006649","display_name":"Bastian Leibe","orcid":"https://orcid.org/0000-0003-4225-0051"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bastian Leibe","raw_affiliation_strings":["Visual Computing Institute, RWTH Aachen University, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Visual Computing Institute, RWTH Aachen University, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111969299","display_name":"Kai O. Arras","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai O. Arras","raw_affiliation_strings":["Bosch Corporate Research, Renningen, Germany","Social Robotics Laboratory, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Social Robotics Laboratory, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.4283,"has_fulltext":false,"cited_by_count":115,"citation_normalized_percentile":{"value":0.97080199,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5512","last_page":"5519"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998999834060669,"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":0.9998999834060669,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9970999956130981,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/computer-science","display_name":"Computer science","score":0.7696559429168701},{"id":"https://openalex.org/keywords/crowds","display_name":"Crowds","score":0.7523115873336792},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5745101571083069},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5335118770599365},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.5254694223403931},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5119365453720093},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4425428509712219},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4353294372558594},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4252772331237793},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42504510283470154},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4224720597267151},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.42010676860809326},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38707202672958374},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3697994649410248},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.1526176631450653},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1381804645061493}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7696559429168701},{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.7523115873336792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5745101571083069},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5335118770599365},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.5254694223403931},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5119365453720093},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4425428509712219},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4353294372558594},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4252772331237793},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42504510283470154},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4224720597267151},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.42010676860809326},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38707202672958374},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3697994649410248},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.1526176631450653},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1381804645061493},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487766","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.rwth-aachen.de:682591","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/search?p=id:%22RWTH-2017-00904%22","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Piscataway : IEEE 5512-5519 (2016). doi:10.1109/ICRA.2016.7487766","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W861352110","https://openalex.org/W888912767","https://openalex.org/W1485828363","https://openalex.org/W1492169262","https://openalex.org/W1521019969","https://openalex.org/W1568122762","https://openalex.org/W1578421573","https://openalex.org/W1600255690","https://openalex.org/W1967777429","https://openalex.org/W2037399936","https://openalex.org/W2044339004","https://openalex.org/W2055990018","https://openalex.org/W2066832919","https://openalex.org/W2083880951","https://openalex.org/W2090183260","https://openalex.org/W2099570340","https://openalex.org/W2100548006","https://openalex.org/W2101295974","https://openalex.org/W2108162040","https://openalex.org/W2109770203","https://openalex.org/W2111957821","https://openalex.org/W2122088301","https://openalex.org/W2124781496","https://openalex.org/W2127923214","https://openalex.org/W2131052232","https://openalex.org/W2150183285","https://openalex.org/W2150298366","https://openalex.org/W2153131046","https://openalex.org/W2168195382","https://openalex.org/W2306347658","https://openalex.org/W4295331127","https://openalex.org/W6623841700","https://openalex.org/W6676264864","https://openalex.org/W6677999991","https://openalex.org/W6698306295"],"related_works":["https://openalex.org/W4240200267","https://openalex.org/W1511510665","https://openalex.org/W1524661185","https://openalex.org/W2078823605","https://openalex.org/W2500095415","https://openalex.org/W4233026749","https://openalex.org/W2097922264","https://openalex.org/W2282342021","https://openalex.org/W4301143707","https://openalex.org/W2952745240"],"abstract_inverted_index":{"Tracking":[0],"people":[1,24,90,124],"is":[2],"a":[3,84,99,113],"key":[4],"technology":[5],"for":[6,23,93],"robots":[7],"and":[8,19,38,48,71,145,157,180],"intelligent":[9],"systems":[10],"in":[11,29,34,51,96,154],"human":[12],"environments.":[13],"Many":[14],"person":[15],"detectors,":[16],"filtering":[17],"methods":[18,144,172],"data":[20,170],"association":[21,171],"algorithms":[22],"tracking":[25,44,91,143],"have":[26],"been":[27,58],"proposed":[28,142],"the":[30,36,134,177],"past":[31],"15+":[32],"years":[33],"both":[35,155],"robotics":[37],"computer":[39],"vision":[40],"communities,":[41],"achieving":[42],"decent":[43],"performances":[45],"from":[46,112],"static":[47],"mobile":[49],"platforms":[50,95],"real-world":[52],"scenarios.":[53],"However,":[54],"little":[55],"effort":[56],"has":[57],"made":[59],"to":[60,127],"compare":[61],"these":[62],"methods,":[63],"analyze":[64],"their":[65,73,147],"performance":[66,77,152],"using":[67],"different":[68,76,151],"sensory":[69],"modalities":[70],"study":[72,146],"impact":[74,148],"on":[75,106,149],"metrics.":[78],"In":[79],"this":[80],"paper,":[81],"we":[82],"propose":[83],"fully":[85],"integrated":[86],"real-time":[87],"multi-modal":[88,158],"laser/RGB-D":[89],"framework":[92],"moving":[94],"environments":[97],"like":[98],"busy":[100],"airport":[101],"terminal.":[102],"We":[103,137,160],"conduct":[104],"experiments":[105],"two":[107],"challenging":[108],"new":[109],"datasets":[110],"collected":[111],"first-person":[114],"perspective,":[115],"one":[116],"of":[117,123],"them":[118],"containing":[119],"very":[120],"dense":[121],"crowds":[122],"with":[125],"up":[126],"30":[128],"individuals":[129],"within":[130],"close":[131],"range":[132],"at":[133],"same":[135],"time.":[136],"consider":[138],"four":[139],"different,":[140],"recently":[141],"seven":[150],"metrics,":[153],"single":[156],"settings.":[159],"extensively":[161],"discuss":[162],"our":[163],"findings,":[164],"which":[165],"indicate":[166],"that":[167],"more":[168],"complex":[169],"may":[173],"not":[174],"always":[175],"be":[176],"better":[178],"choice,":[179],"derive":[181],"possible":[182],"future":[183],"research":[184],"directions.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}