{"id":"https://openalex.org/W3168282534","doi":"https://doi.org/10.1109/ieeeconf51394.2020.9443297","title":"Quadric-based Traffic Sign Landmarks Initialization for Object-oriented EKF-SLAM","display_name":"Quadric-based Traffic Sign Landmarks Initialization for Object-oriented EKF-SLAM","publication_year":2020,"publication_date":"2020-11-01","ids":{"openalex":"https://openalex.org/W3168282534","doi":"https://doi.org/10.1109/ieeeconf51394.2020.9443297","mag":"3168282534"},"language":"en","primary_location":{"id":"doi:10.1109/ieeeconf51394.2020.9443297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ieeeconf51394.2020.9443297","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 54th Asilomar Conference on Signals, Systems, and Computers","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/A5058315283","display_name":"Emir Hrustic","orcid":null},"institutions":[{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Emir Hrustic","raw_affiliation_strings":["ISAE-SUPAERO, University of Toulouse, Toulouse, France","ISAE-SUPAERO - Institut Sup\u00e9rieur de l'A\u00e9ronautique et de l'Espace (ISAE - 10 av. Edouard Belin - BP 54032 - 31055 TOULOUSE Cedex 4 - France)"],"affiliations":[{"raw_affiliation_string":"ISAE-SUPAERO, University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I193033237"]},{"raw_affiliation_string":"ISAE-SUPAERO - Institut Sup\u00e9rieur de l'A\u00e9ronautique et de l'Espace (ISAE - 10 av. Edouard Belin - BP 54032 - 31055 TOULOUSE Cedex 4 - France)","institution_ids":["https://openalex.org/I193033237"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041727589","display_name":"Damien Vivet","orcid":"https://orcid.org/0000-0003-1909-5591"},"institutions":[{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Damien Vivet","raw_affiliation_strings":["ISAE-SUPAERO, University of Toulouse, Toulouse, France","ISAE-SUPAERO - Institut Sup\u00e9rieur de l'A\u00e9ronautique et de l'Espace (ISAE - 10 av. Edouard Belin - BP 54032 - 31055 TOULOUSE Cedex 4 - France)"],"affiliations":[{"raw_affiliation_string":"ISAE-SUPAERO, University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I193033237"]},{"raw_affiliation_string":"ISAE-SUPAERO - Institut Sup\u00e9rieur de l'A\u00e9ronautique et de l'Espace (ISAE - 10 av. Edouard Belin - BP 54032 - 31055 TOULOUSE Cedex 4 - France)","institution_ids":["https://openalex.org/I193033237"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5058315283"],"corresponding_institution_ids":["https://openalex.org/I193033237"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.11790979,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1542","last_page":"1547"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994000196456909,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9980999827384949,"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/computer-vision","display_name":"Computer vision","score":0.7301095128059387},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7240349054336548},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7147696018218994},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7100166082382202},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6156485676765442},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6006626486778259},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5746623873710632},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.5147311687469482},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4655725657939911},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.46090400218963623},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45560163259506226},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43082329630851746},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.26657986640930176},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21753159165382385},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2122015655040741},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.19809994101524353}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7301095128059387},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7240349054336548},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7147696018218994},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7100166082382202},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6156485676765442},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6006626486778259},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5746623873710632},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.5147311687469482},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4655725657939911},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.46090400218963623},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45560163259506226},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43082329630851746},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.26657986640930176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21753159165382385},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2122015655040741},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.19809994101524353},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ieeeconf51394.2020.9443297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ieeeconf51394.2020.9443297","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 54th Asilomar Conference on Signals, Systems, and Computers","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04921938v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04921938","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2020 54th Asilomar Conference on Signals, Systems, and Computers, Nov 2020, Pacific Grove, France. pp.1542-1547, ⟨10.1109/IEEECONF51394.2020.9443297⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5600000023841858,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1556546299","https://openalex.org/W1677409904","https://openalex.org/W1973976650","https://openalex.org/W2117228865","https://openalex.org/W2141067321","https://openalex.org/W2151103935","https://openalex.org/W2160813207","https://openalex.org/W2307770531","https://openalex.org/W2566563079","https://openalex.org/W2610694266","https://openalex.org/W2739423245","https://openalex.org/W2743154296","https://openalex.org/W2808571300","https://openalex.org/W2886388988","https://openalex.org/W2888144883","https://openalex.org/W2890090517","https://openalex.org/W2938672559","https://openalex.org/W2954772682","https://openalex.org/W2963150697","https://openalex.org/W2963351448","https://openalex.org/W2963881378","https://openalex.org/W2964226622","https://openalex.org/W2989135423","https://openalex.org/W3012573144","https://openalex.org/W3098467253","https://openalex.org/W3100046297","https://openalex.org/W3100207723","https://openalex.org/W3106250896","https://openalex.org/W3106458387","https://openalex.org/W3119881741","https://openalex.org/W6620707391","https://openalex.org/W6637400245","https://openalex.org/W6697925102","https://openalex.org/W6753494528","https://openalex.org/W6753856400","https://openalex.org/W6966814156"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W2088028039","https://openalex.org/W1541079531","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W1981991040","https://openalex.org/W2467646110","https://openalex.org/W2583542422","https://openalex.org/W3001939774"],"abstract_inverted_index":{"Visual":[0],"Simultaneous":[1],"localization":[2],"and":[3,51,62,106,142],"mapping":[4],"(vS-LAM)":[5],"are":[6,25,47,53,90],"estimation":[7,170],"problems":[8,40],"in":[9,155,166],"which":[10],"a":[11,18,98,108,147,156],"vehicle":[12],"is":[13],"localizing":[14],"itself":[15],"while":[16],"reconstructing":[17],"map":[19],"of":[20,41,138,140],"the":[21,135,167],"environment.":[22],"Such":[23],"approaches":[24],"usually":[26],"solved":[27],"using":[28],"handcrafted":[29],"2D":[30],"features":[31,43],"resulting":[32],"as":[33,82],"simple":[34,99],"geometrical":[35,100],"shape":[36],"landmarks.":[37,83],"The":[38],"main":[39],"such":[42,116,153],"are:":[44],"(1)":[45],"they":[46,64,96],"not":[48,66],"robust":[49],"enough":[50],"(2)":[52],"often":[54],"lost":[55],"or":[56],"incorrectly":[57],"matched":[58],"over":[59],"consecutive":[60],"frames":[61],"(3)":[63],"do":[65],"carry":[67,107],"any":[68],"semantic":[69,80,110],"information.":[70,111],"In":[71],"this":[72,94,126],"paper,":[73],"we":[74,128],"propose":[75,113],"to":[76,114,133,151],"consider":[77],"higher":[78],"level":[79,119],"objects":[81],"We":[84,112],"focus":[85],"on":[86],"Traffic":[87],"Signs":[88],"that":[89],"excellent":[91],"candidates":[92],"for":[93],"role:":[95],"have":[97],"shape,":[101],"can":[102,162],"be":[103,163],"easily":[104,164],"detected":[105],"strong":[109],"include":[115],"new":[117],"high":[118],"landmarks":[120,154],"into":[121],"an":[122,130],"EKF-SLAM":[123],"framework.":[124],"For":[125],"purpose,":[127],"developed":[129],"efficient":[131],"way":[132,159],"estimate":[134],"7":[136],"degrees":[137],"freedom":[139],"polygonal":[141],"circular":[143],"traffic":[144],"signs":[145],"from":[146],"single":[148],"stereo-vision":[149],"observation":[150],"initialize":[152],"very":[157],"accurate":[158],"so":[160],"it":[161],"used":[165],"EKF":[168],"based":[169],"process.":[171]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}