{"id":"https://openalex.org/W2742026597","doi":"https://doi.org/10.1109/icves.2017.7991913","title":"Robust particle filter for lane-precise localization","display_name":"Robust particle filter for lane-precise localization","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2742026597","doi":"https://doi.org/10.1109/icves.2017.7991913","mag":"2742026597"},"language":"en","primary_location":{"id":"doi:10.1109/icves.2017.7991913","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icves.2017.7991913","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","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/A5059576212","display_name":"Johannes Rabe","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Johannes Rabe","raw_affiliation_strings":["Daimler AG, Research & Development, Sin-delfingen, Germany"],"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sin-delfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5059576212"],"corresponding_institution_ids":["https://openalex.org/I891521709"],"apc_list":null,"apc_paid":null,"fwci":0.195,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.61525359,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.9994999766349792,"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":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980000257492065,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9972000122070312,"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/particle-filter","display_name":"Particle filter","score":0.747588038444519},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6577193737030029},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6543457508087158},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.5874356031417847},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4978301525115967},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47747015953063965},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4661264419555664},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4487053453922272},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3368121087551117},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23894917964935303},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1001674234867096}],"concepts":[{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.747588038444519},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6577193737030029},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6543457508087158},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.5874356031417847},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4978301525115967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47747015953063965},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4661264419555664},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4487053453922272},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3368121087551117},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23894917964935303},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1001674234867096},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icves.2017.7991913","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icves.2017.7991913","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5199999809265137,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1873027057","https://openalex.org/W1965154611","https://openalex.org/W2046799831","https://openalex.org/W2105934661","https://openalex.org/W2115174099","https://openalex.org/W2120660345","https://openalex.org/W2160337655","https://openalex.org/W2508447150","https://openalex.org/W2566950583","https://openalex.org/W2567481267","https://openalex.org/W2740948557"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2180954594","https://openalex.org/W2100339372","https://openalex.org/W4309137623","https://openalex.org/W2052835778","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W2787146399","https://openalex.org/W2049003611"],"abstract_inverted_index":{"In":[0,26],"this":[1,83],"work,":[2],"we":[3,28,130],"present":[4,20],"a":[5,15,22,37,42,48,62],"method":[6,119],"for":[7,70,87,94],"lane-precise":[8],"localization":[9],"in":[10,21,61],"downtown":[11,126],"scenarios":[12],"based":[13,35],"on":[14,36,122],"geometric":[16],"map":[17,79],"and":[18,45,58,74,91,99],"sensors":[19],"current":[23],"production":[24],"vehicle.":[25],"detail,":[27],"use":[29],"low-cost":[30],"GPS,":[31],"odometry,":[32],"lane-marking":[33],"detection":[34],"camera,":[38],"objects":[39],"detected":[40],"by":[41],"front":[43],"radar,":[44],"events":[46],"from":[47,125,136],"blind":[49],"spot":[50],"monitoring":[51],"system.":[52],"The":[53],"proposed":[54],"combined":[55],"weight":[56],"update":[57],"sampling":[59],"step":[60],"particle":[63,68],"filter":[64],"reduces":[65],"the":[66,95,100,104,113,117,133,150],"required":[67],"density":[69],"tight":[71],"measurement":[72],"likelihoods":[73],"additionally":[75],"improves":[76],"robustness":[77],"against":[78,108],"errors.":[80],"We":[81],"extend":[82],"approach":[84],"to":[85,102,139,143],"allow":[86],"mixtures":[88],"of":[89,116],"uniform":[90],"normal":[92],"distributions":[93],"intermediate":[96],"belief":[97],"estimate":[98],"likelihood":[101],"make":[103],"system":[105,154],"more":[106],"robust":[107],"sensor":[109],"outages.":[110],"Simulations":[111],"show":[112],"improved":[114],"reproducibility":[115],"new":[118],"while":[120,148],"evaluation":[121],"logged":[123],"data":[124],"drives":[127],"shows":[128],"that":[129],"can":[131],"reduce":[132],"error":[134],"probability":[135],"above":[137],"20%":[138],"around":[140,157],"0.5%":[141],"compared":[142],"traditional":[144],"importance":[145],"weighting":[146],"-":[147],"at":[149],"same":[151],"time":[152],"keeping":[153],"availability":[155],"stable":[156],"95%.":[158]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}