{"id":"https://openalex.org/W7128620944","doi":"https://doi.org/10.1109/icves65691.2025.11376557","title":"Multisensor Fusion for Efficient 3D Urban Pole Detection and Global Localization","display_name":"Multisensor Fusion for Efficient 3D Urban Pole Detection and Global Localization","publication_year":2025,"publication_date":"2025-10-27","ids":{"openalex":"https://openalex.org/W7128620944","doi":"https://doi.org/10.1109/icves65691.2025.11376557"},"language":null,"primary_location":{"id":"doi:10.1109/icves65691.2025.11376557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icves65691.2025.11376557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5084446725","display_name":"J. Godoy","orcid":"https://orcid.org/0009-0009-8435-4415"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I63634437","display_name":"Universidad Aut\u00f3noma de Madrid","ror":"https://ror.org/01cby8j38","country_code":"ES","type":"education","lineage":["https://openalex.org/I63634437"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Jaime Godoy","raw_affiliation_strings":["Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911"],"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911","institution_ids":["https://openalex.org/I63634437","https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125678974","display_name":"Selin Yavuz","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I63634437","display_name":"Universidad Aut\u00f3noma de Madrid","ror":"https://ror.org/01cby8j38","country_code":"ES","type":"education","lineage":["https://openalex.org/I63634437"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Selin Yavuz","raw_affiliation_strings":["Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911"],"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911","institution_ids":["https://openalex.org/I63634437","https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125639447","display_name":"Andreu Folch-Company","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I63634437","display_name":"Universidad Aut\u00f3noma de Madrid","ror":"https://ror.org/01cby8j38","country_code":"ES","type":"education","lineage":["https://openalex.org/I63634437"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Andreu Folch-Company","raw_affiliation_strings":["Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911"],"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911","institution_ids":["https://openalex.org/I63634437","https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125651507","display_name":"Alejandro Salazar Gomez","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I63634437","display_name":"Universidad Aut\u00f3noma de Madrid","ror":"https://ror.org/01cby8j38","country_code":"ES","type":"education","lineage":["https://openalex.org/I63634437"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alejandro Salazar Gomez","raw_affiliation_strings":["Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911"],"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911","institution_ids":["https://openalex.org/I63634437","https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125673043","display_name":"Daniel Serrano Dominguez","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I63634437","display_name":"Universidad Aut\u00f3noma de Madrid","ror":"https://ror.org/01cby8j38","country_code":"ES","type":"education","lineage":["https://openalex.org/I63634437"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Daniel Serrano Dominguez","raw_affiliation_strings":["Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911"],"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911","institution_ids":["https://openalex.org/I63634437","https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":null,"display_name":"D\u00e1niel Horv\u00e1th","orcid":null},"institutions":[{"id":"https://openalex.org/I106118109","display_name":"E\u00f6tv\u00f6s Lor\u00e1nd University","ror":"https://ror.org/01jsq2704","country_code":"HU","type":"education","lineage":["https://openalex.org/I106118109"]},{"id":"https://openalex.org/I2799978770","display_name":"X-Fab (Germany)","ror":"https://ror.org/030bh9196","country_code":"DE","type":"company","lineage":["https://openalex.org/I2799978770"]}],"countries":["DE","HU"],"is_corresponding":false,"raw_author_name":"D\u00e1niel Horv\u00e1th","raw_affiliation_strings":["Eötvös Loránd University (ELTE),Faculty of Informatics,Budapest,Hungary"],"affiliations":[{"raw_affiliation_string":"Eötvös Loránd University (ELTE),Faculty of Informatics,Budapest,Hungary","institution_ids":["https://openalex.org/I2799978770","https://openalex.org/I106118109"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023034788","display_name":"Hafsa Iqbal","orcid":"https://orcid.org/0000-0002-1773-8066"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I63634437","display_name":"Universidad Aut\u00f3noma de Madrid","ror":"https://ror.org/01cby8j38","country_code":"ES","type":"education","lineage":["https://openalex.org/I63634437"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Hafsa Iqbal","raw_affiliation_strings":["Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911"],"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911","institution_ids":["https://openalex.org/I63634437","https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087117597","display_name":"Abdulla Al-Kaff","orcid":"https://orcid.org/0000-0003-0212-6400"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I63634437","display_name":"Universidad Aut\u00f3noma de Madrid","ror":"https://ror.org/01cby8j38","country_code":"ES","type":"education","lineage":["https://openalex.org/I63634437"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Abdulla Al-Kaff","raw_affiliation_strings":["Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911"],"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911","institution_ids":["https://openalex.org/I63634437","https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":null,"display_name":"Fernando Garcia Fernandez","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I63634437","display_name":"Universidad Aut\u00f3noma de Madrid","ror":"https://ror.org/01cby8j38","country_code":"ES","type":"education","lineage":["https://openalex.org/I63634437"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Fernando Garcia Fernandez","raw_affiliation_strings":["Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911"],"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Autonomous Mobility and Perception Laboratory (AMPL),Departamento de Ingenieria de Sistemas y Automática,Madrid,Spain,28911","institution_ids":["https://openalex.org/I63634437","https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5084446725"],"corresponding_institution_ids":["https://openalex.org/I50357001","https://openalex.org/I63634437"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.61434159,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"290","last_page":"295"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.3492000102996826,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.3492000102996826,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.2240999937057495,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.14890000224113464,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5640000104904175},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5598000288009644},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5235000252723694},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5008999705314636},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4794999957084656},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.4560000002384186},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.44620001316070557},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.43700000643730164},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4277999997138977}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7190999984741211},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6969000101089478},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5978000164031982},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5640000104904175},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5598000288009644},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5235000252723694},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5008999705314636},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4794999957084656},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.4560000002384186},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.44620001316070557},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.43700000643730164},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4277999997138977},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.4099000096321106},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.39730000495910645},{"id":"https://openalex.org/C69744172","wikidata":"https://www.wikidata.org/wiki/Q860822","display_name":"Image fusion","level":3,"score":0.3928000032901764},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3767000138759613},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3450999855995178},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3425000011920929},{"id":"https://openalex.org/C2776836416","wikidata":"https://www.wikidata.org/wiki/Q1364844","display_name":"False alarm","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.3041999936103821},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.301800012588501},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.29580000042915344},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.27790001034736633},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2621000111103058},{"id":"https://openalex.org/C132459708","wikidata":"https://www.wikidata.org/wiki/Q744069","display_name":"Extrapolation","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icves65691.2025.11376557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icves65691.2025.11376557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8451050519943237,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1602721901","https://openalex.org/W2108598243","https://openalex.org/W2150066425","https://openalex.org/W2340897893","https://openalex.org/W2570343428","https://openalex.org/W2952122856","https://openalex.org/W2963037989","https://openalex.org/W2964062501","https://openalex.org/W2968402026","https://openalex.org/W2991630277","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3096609285","https://openalex.org/W3134233478","https://openalex.org/W4205339378","https://openalex.org/W4307411363","https://openalex.org/W4310269174","https://openalex.org/W4387623867","https://openalex.org/W4389543112","https://openalex.org/W4402754006","https://openalex.org/W4406063078","https://openalex.org/W4409882644","https://openalex.org/W4411336536"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,74,78],"multisensor":[4],"methodology":[5],"for":[6,87,101],"the":[7,95,98,110],"detection":[8,32],"and":[9,22,35,60,66,82,103],"global":[10,90],"localization":[11],"of":[12,18,80,85,97,112],"urban":[13,105],"poles,":[14],"using":[15,53,63],"late-stage":[16],"fusion":[17,65],"high-resolution":[19],"camera":[20,54],"images":[21],"LiDAR":[23],"point":[24],"clouds.":[25],"The":[26],"approach":[27],"leverages":[28],"state-of-the-art":[29],"2D":[30,45],"object":[31],"models,":[33],"RT-DETR":[34],"YOLO11x,":[36],"which":[37],"are":[38,48],"fine-tuned":[39],"on":[40,73],"semantically":[41],"annotated":[42],"data.":[43],"Detected":[44],"bounding":[46],"boxes":[47],"projected":[49],"into":[50],"3D":[51,88,115],"space":[52],"calibration":[55],"matrices,":[56],"then":[57],"filtered,":[58],"tracked,":[59],"globally":[61],"localized":[62],"GPS-IMU":[64],"an":[67,83],"Unscented":[68],"Kalman":[69],"Filter":[70],"(UKF).":[71],"Evaluation":[72],"real-world":[75],"dataset":[76],"demonstrates":[77],"recall":[79],"0.936":[81],"F1-score":[84],"0.897":[86],"pole":[89,106],"localization.":[91],"These":[92],"results":[93],"highlight":[94],"effectiveness":[96],"proposed":[99],"pipeline":[100],"accurate":[102],"reliable":[104],"mapping,":[107],"even":[108],"in":[109],"absence":[111],"publicly":[113],"available":[114],"datasets.":[116]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2026-02-12T00:00:00"}