{"id":"https://openalex.org/W1991252244","doi":"https://doi.org/10.1109/iros.2010.5651516","title":"Moving objects detection and classification based on trajectories of LRF scan data on a grid map","display_name":"Moving objects detection and classification based on trajectories of LRF scan data on a grid map","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1991252244","doi":"https://doi.org/10.1109/iros.2010.5651516","mag":"1991252244"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5651516","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651516","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5100628808","display_name":"Taketoshi Mori","orcid":"https://orcid.org/0000-0002-7208-6435"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T Mori","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058863991","display_name":"Takao Sat\u00f4","orcid":"https://orcid.org/0000-0003-0590-3594"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T Sato","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066019307","display_name":"Hiroshi Noguchi","orcid":"https://orcid.org/0000-0002-5303-5210"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H Noguchi","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032839697","display_name":"Masamichi Shimosaka","orcid":"https://orcid.org/0000-0003-0558-2006"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M Shimosaka","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043323310","display_name":"Rui Fukui","orcid":"https://orcid.org/0000-0002-3940-8279"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"R Fukui","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058863991","display_name":"Takao Sat\u00f4","orcid":"https://orcid.org/0000-0003-0590-3594"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T Sato","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2606","last_page":"2611"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9990000128746033,"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":0.9990000128746033,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.994700014591217,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.993399977684021,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7580806016921997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7541531324386597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7203461527824402},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.7039809226989746},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5873653888702393},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5731187462806702},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.5490855574607849},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5284545421600342},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5196284651756287},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.48513707518577576},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.4802035093307495},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4575149416923523},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44477578997612},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.4180956184864044},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3433114290237427},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13533592224121094}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7580806016921997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7541531324386597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7203461527824402},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.7039809226989746},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5873653888702393},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5731187462806702},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.5490855574607849},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5284545421600342},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5196284651756287},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.48513707518577576},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.4802035093307495},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4575149416923523},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44477578997612},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.4180956184864044},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3433114290237427},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13533592224121094},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5651516","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651516","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2061730113","https://openalex.org/W2117892041","https://openalex.org/W2126742341","https://openalex.org/W2136760085","https://openalex.org/W2147351562","https://openalex.org/W2152669093","https://openalex.org/W2156715992","https://openalex.org/W2161318505","https://openalex.org/W3097096317","https://openalex.org/W3214102110","https://openalex.org/W6679187224","https://openalex.org/W6680571935","https://openalex.org/W6683290661","https://openalex.org/W6804270185"],"related_works":["https://openalex.org/W2140013578","https://openalex.org/W2132105173","https://openalex.org/W2077648827","https://openalex.org/W2140960507","https://openalex.org/W2053304376","https://openalex.org/W2130588278","https://openalex.org/W2551663027","https://openalex.org/W1605073378","https://openalex.org/W2140110270","https://openalex.org/W3005878929"],"abstract_inverted_index":{"Laser":[0],"based":[1,42,105],"environment":[2],"recognition":[3],"technologies":[4],"have":[5],"been":[6],"developed":[7],"recently.":[8],"Especially":[9],"moving":[10,36,86,91],"objects":[11,37],"detection":[12,38],"and":[13,27,39,66,82,125],"classification":[14,40],"by":[15,56],"laser":[16,49,59,116],"scanners":[17,117],"mounted":[18,115],"on":[19,43,62,106],"a":[20,35,63,73,90,95,97,101,103],"mobility":[21,114],"is":[22],"required":[23],"for":[24,72],"mobile":[25],"robots":[26],"autonomous":[28],"cars.":[29],"In":[30,110],"this":[31],"paper,":[32],"we":[33],"propose":[34],"method":[41,135],"grid":[44,64,108],"trajectories":[45,53,68],"acquired":[46,118],"from":[47],"sequential":[48,58],"scan":[50,60,75,119],"data.":[51],"Grid":[52],"are":[54],"obtained":[55],"voting":[57],"points":[61],"map,":[65],"these":[67],"not":[69],"only":[70],"work":[71],"correct":[74],"segmentation,":[76],"but":[77],"also":[78],"represent":[79],"the":[80,83,122,126,130,133],"size":[81],"speed":[84],"of":[85,99,132],"objects.":[87],"We":[88],"classify":[89],"object":[92],"into":[93],"either":[94],"person,":[96],"group":[98],"people,":[100],"bike,":[102],"car":[104],"its":[107],"trajectory.":[109],"our":[111,113],"experiments,":[112],"data":[120],"in":[121,136],"university":[123],"campus,":[124],"experimental":[127],"results":[128],"illustrate":[129],"effectiveness":[131],"proposed":[134],"outdoor":[137],"environments.":[138]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}