{"id":"https://openalex.org/W2739127893","doi":"https://doi.org/10.1109/iros.2017.8202247","title":"Online learning for human classification in 3D LiDAR-based tracking","display_name":"Online learning for human classification in 3D LiDAR-based tracking","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2739127893","doi":"https://doi.org/10.1109/iros.2017.8202247","mag":"2739127893"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202247","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Online_learning_for_human_classification_in_3D_LiDAR-based_tracking/25172423","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008360393","display_name":"Zhi Yan","orcid":"https://orcid.org/0000-0001-8251-9786"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Zhi Yan","raw_affiliation_strings":["Lincoln Centre for Autonomous Systems, University of Lincoln, UK"],"affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous Systems, University of Lincoln, UK","institution_ids":["https://openalex.org/I51532219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088202291","display_name":"Tom Duckett","orcid":"https://orcid.org/0000-0003-2971-7905"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tom Duckett","raw_affiliation_strings":["Lincoln Centre for Autonomous Systems, University of Lincoln, UK"],"affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous Systems, University of Lincoln, UK","institution_ids":["https://openalex.org/I51532219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023298828","display_name":"Nicola Bellotto","orcid":"https://orcid.org/0000-0001-7950-9608"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nicola Bellotto","raw_affiliation_strings":["Lincoln Centre for Autonomous Systems, University of Lincoln, UK"],"affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous Systems, University of Lincoln, UK","institution_ids":["https://openalex.org/I51532219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5008360393"],"corresponding_institution_ids":["https://openalex.org/I51532219"],"apc_list":null,"apc_paid":null,"fwci":4.0696,"has_fulltext":false,"cited_by_count":119,"citation_normalized_percentile":{"value":0.9644381,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"864","last_page":"871"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":1.0,"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":1.0,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9975000023841858,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9968000054359436,"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-science","display_name":"Computer science","score":0.7929414510726929},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7886210680007935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7303152084350586},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.5814423561096191},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5612533092498779},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5200557112693787},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.4896565079689026},{"id":"https://openalex.org/keywords/retraining","display_name":"Retraining","score":0.48441627621650696},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4732787311077118},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4517388641834259},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4253408908843994},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.42142346501350403},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4134274423122406},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.29359495639801025},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.10410261154174805},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.08808743953704834}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7929414510726929},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7886210680007935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7303152084350586},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.5814423561096191},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5612533092498779},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5200557112693787},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.4896565079689026},{"id":"https://openalex.org/C2778712577","wikidata":"https://www.wikidata.org/wiki/Q3505966","display_name":"Retraining","level":2,"score":0.48441627621650696},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4732787311077118},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4517388641834259},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4253408908843994},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42142346501350403},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4134274423122406},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.29359495639801025},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.10410261154174805},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.08808743953704834},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C155202549","wikidata":"https://www.wikidata.org/wiki/Q178803","display_name":"International trade","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"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":4,"locations":[{"id":"doi:10.1109/iros.2017.8202247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202247","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.lincoln.ac.uk:27675","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196275","display_name":"Lincoln Repository (University of Lincoln)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51532219","host_organization_name":"University of Lincoln","host_organization_lineage":["https://openalex.org/I51532219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop contribution"},{"id":"pmh:oai:figshare.com:article/25172423","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Online_learning_for_human_classification_in_3D_LiDAR-based_tracking/25172423","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:www.research.unipd.it:11577/3455040","is_oa":false,"landing_page_url":"http://hdl.handle.net/11577/3455040","pdf_url":null,"source":{"id":"https://openalex.org/S4377196283","display_name":"Research Padua  Archive (University of Padua)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/25172423","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Online_learning_for_human_classification_in_3D_LiDAR-based_tracking/25172423","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W34738725","https://openalex.org/W861352110","https://openalex.org/W1964354889","https://openalex.org/W2016936259","https://openalex.org/W2031489346","https://openalex.org/W2055990018","https://openalex.org/W2067528992","https://openalex.org/W2074658631","https://openalex.org/W2102792607","https://openalex.org/W2115068461","https://openalex.org/W2118286367","https://openalex.org/W2119821739","https://openalex.org/W2124211486","https://openalex.org/W2136475381","https://openalex.org/W2143385397","https://openalex.org/W2150066425","https://openalex.org/W2153635508","https://openalex.org/W2154458843","https://openalex.org/W2168195382","https://openalex.org/W2293349265","https://openalex.org/W2342642695","https://openalex.org/W2395369406","https://openalex.org/W2411443472","https://openalex.org/W2417447115","https://openalex.org/W2565029242","https://openalex.org/W2901136733","https://openalex.org/W4239510810","https://openalex.org/W6623841700","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W4319317934","https://openalex.org/W38056103"],"abstract_inverted_index":{"Human":[0],"detection":[1],"and":[2,20,152,161],"tracking":[3,44],"are":[4],"essential":[5],"aspects":[6],"to":[7,45,100,138],"be":[8,87],"considered":[9],"in":[10,35,83,128,162],"service":[11],"robotics,":[12],"as":[13],"the":[14,47,66,70,90,94,117,139,145,149],"robot":[15,71],"often":[16],"shares":[17],"its":[18,166],"workspace":[19],"interacts":[21],"closely":[22],"with":[23,65],"humans.":[24],"This":[25],"paper":[26],"presents":[27],"an":[28,103],"online":[29,64,156],"learning":[30],"framework":[31,118],"for":[32,49],"human":[33,54,110,158],"classification":[34],"3D":[36,95,105,122],"LiDAR":[37,123],"scans,":[38],"taking":[39],"advantage":[40],"of":[41,77,108,125,148],"robust":[42],"multi-target":[43],"avoid":[46],"need":[48],"data":[50,85],"annotation":[51],"by":[52,60,69,93],"a":[53,62,120,129],"expert.":[55],"The":[56,142],"system":[57],"learns":[58],"iteratively":[59],"retraining":[61],"classifier":[63,159],"samples":[67],"collected":[68],"over":[72],"time.":[73],"A":[74],"novel":[75],"aspect":[76],"our":[78,155],"approach":[79],"is":[80,135],"that":[81,154],"errors":[82],"training":[84],"can":[86],"corrected":[88],"using":[89,119],"information":[91],"provided":[92],"LiDAR-based":[96],"tracking.":[97],"In":[98],"order":[99],"do":[101],"this,":[102],"efficient":[104],"cluster":[106,150],"detector":[107,151],"potential":[109],"targets":[111],"has":[112],"been":[113],"implemented.":[114],"We":[115],"evaluate":[116],"new":[121],"dataset":[124],"people":[126],"moving":[127],"large":[130],"indoor":[131],"public":[132],"space,":[133],"which":[134],"made":[136],"available":[137],"research":[140],"community.":[141],"experiments":[143],"analyse":[144],"real-time":[146],"performance":[147],"show":[153],"learned":[157],"matches":[160],"some":[163],"cases":[164],"outperforms":[165],"offline":[167],"version.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":6}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}