{"id":"https://openalex.org/W4410771260","doi":"https://doi.org/10.1109/icrca64997.2025.11011217","title":"Integration of YOLOP and Kalman Filter on ROS2 platform for Enhanced Lane Detection of AI Formula Robot","display_name":"Integration of YOLOP and Kalman Filter on ROS2 platform for Enhanced Lane Detection of AI Formula Robot","publication_year":2025,"publication_date":"2025-03-07","ids":{"openalex":"https://openalex.org/W4410771260","doi":"https://doi.org/10.1109/icrca64997.2025.11011217"},"language":"en","primary_location":{"id":"doi:10.1109/icrca64997.2025.11011217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icrca64997.2025.11011217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 9th International Conference on Robotics, Control and Automation (ICRCA)","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/A5032367275","display_name":"Hongkang Yu","orcid":"https://orcid.org/0000-0003-3760-2569"},"institutions":[{"id":"https://openalex.org/I42999171","display_name":"Sophia University","ror":"https://ror.org/01nckkm68","country_code":"JP","type":"education","lineage":["https://openalex.org/I42999171"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hongkang Yu","raw_affiliation_strings":["Sophia University,Faculty of Science and Technology,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sophia University,Faculty of Science and Technology,Tokyo,Japan","institution_ids":["https://openalex.org/I42999171"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078530936","display_name":"Zhao Wei","orcid":"https://orcid.org/0000-0003-1092-1690"},"institutions":[{"id":"https://openalex.org/I42999171","display_name":"Sophia University","ror":"https://ror.org/01nckkm68","country_code":"JP","type":"education","lineage":["https://openalex.org/I42999171"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wei Zhao","raw_affiliation_strings":["Sophia University,Faculty of Science and Technology,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sophia University,Faculty of Science and Technology,Tokyo,Japan","institution_ids":["https://openalex.org/I42999171"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058615204","display_name":"Zhewen Zheng","orcid":"https://orcid.org/0009-0003-0695-6601"},"institutions":[{"id":"https://openalex.org/I42999171","display_name":"Sophia University","ror":"https://ror.org/01nckkm68","country_code":"JP","type":"education","lineage":["https://openalex.org/I42999171"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhewen Zheng","raw_affiliation_strings":["Sophia University,Faculty of Science and Technology,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sophia University,Faculty of Science and Technology,Tokyo,Japan","institution_ids":["https://openalex.org/I42999171"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387253","display_name":"Mo Chen","orcid":"https://orcid.org/0000-0003-1841-7608"},"institutions":[{"id":"https://openalex.org/I42999171","display_name":"Sophia University","ror":"https://ror.org/01nckkm68","country_code":"JP","type":"education","lineage":["https://openalex.org/I42999171"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mo Chen","raw_affiliation_strings":["Sophia University,Faculty of Science and Technology,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sophia University,Faculty of Science and Technology,Tokyo,Japan","institution_ids":["https://openalex.org/I42999171"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101830605","display_name":"Wenjing Cao","orcid":"https://orcid.org/0000-0002-6546-8021"},"institutions":[{"id":"https://openalex.org/I42999171","display_name":"Sophia University","ror":"https://ror.org/01nckkm68","country_code":"JP","type":"education","lineage":["https://openalex.org/I42999171"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wenjing Cao","raw_affiliation_strings":["Sophia University,Department of Engineering and Applied Sciences,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sophia University,Department of Engineering and Applied Sciences,Tokyo,Japan","institution_ids":["https://openalex.org/I42999171"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I42999171"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14022366,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"150","last_page":"155"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9861000180244446,"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":0.9861000180244446,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.8705356121063232},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5848689079284668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5691100358963013},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5672695636749268},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.5581520199775696},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.4633273482322693},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4111776053905487},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.409157395362854}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8705356121063232},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5848689079284668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5691100358963013},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5672695636749268},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.5581520199775696},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.4633273482322693},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4111776053905487},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.409157395362854}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icrca64997.2025.11011217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icrca64997.2025.11011217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 9th International Conference on Robotics, Control and Automation (ICRCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2296267969","https://openalex.org/W4285118117","https://openalex.org/W4308450151","https://openalex.org/W4393101089","https://openalex.org/W4398249526","https://openalex.org/W4402468176","https://openalex.org/W4403468291","https://openalex.org/W4404442421","https://openalex.org/W4404572002","https://openalex.org/W4404917606","https://openalex.org/W4406267754"],"related_works":["https://openalex.org/W4405267133","https://openalex.org/W1506303183","https://openalex.org/W2103062922","https://openalex.org/W1580685205","https://openalex.org/W2369564630","https://openalex.org/W2363340733","https://openalex.org/W2064665624","https://openalex.org/W2152504883","https://openalex.org/W4244361639","https://openalex.org/W4313056238"],"abstract_inverted_index":{"This":[0],"study":[1],"examines":[2],"the":[3,13,22,26,49,54,59],"application":[4],"of":[5,28],"Kalman":[6,46,69],"filter":[7,23,47],"for":[8,63,81],"white":[9],"line":[10],"detection":[11,31,40],"in":[12,48,85],"AI":[14,82],"Formula":[15,83],"robot.":[16],"By":[17],"refining":[18],"YOLOP-generated":[19],"path":[20],"points,":[21],"effectively":[24],"reduces":[25],"influence":[27],"noise,":[29],"enhancing":[30],"accuracy.":[32],"In":[33],"this":[34],"study,":[35],"we":[36],"proposed":[37,60],"a":[38,78],"lane":[39,75],"system":[41,61],"which":[42],"integrates":[43],"YOLOP":[44],"with":[45],"ROS2":[50],"platform.":[51],"We":[52],"optimized":[53],"program":[55],"code":[56],"to":[57,72],"make":[58],"adaptable":[62],"practical":[64],"requirements.":[65],"Experimental":[66],"results":[67],"demonstrate":[68],"filter\u2019s":[70],"ability":[71],"improve":[73],"YOLOP\u2019s":[74],"detection,":[76],"offering":[77],"reliable":[79],"solution":[80],"pathfinding":[84],"real-world":[86],"scenarios.":[87]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}