{"id":"https://openalex.org/W3134380005","doi":"https://doi.org/10.1109/iros51168.2021.9636202","title":"Model-free Vehicle Tracking and State Estimation in Point Cloud Sequences","display_name":"Model-free Vehicle Tracking and State Estimation in Point Cloud Sequences","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3134380005","doi":"https://doi.org/10.1109/iros51168.2021.9636202","mag":"3134380005"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636202","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636202","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5074352142","display_name":"Ziqi Pang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ziqi Pang","raw_affiliation_strings":["TuSimple"],"affiliations":[{"raw_affiliation_string":"TuSimple","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100368501","display_name":"Zhichao Li","orcid":"https://orcid.org/0000-0002-6966-0432"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhichao Li","raw_affiliation_strings":["TuSimple"],"affiliations":[{"raw_affiliation_string":"TuSimple","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100742122","display_name":"Naiyan Wang","orcid":"https://orcid.org/0000-0002-0526-3331"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Naiyan Wang","raw_affiliation_strings":["TuSimple"],"affiliations":[{"raw_affiliation_string":"TuSimple","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5074352142"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7741,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.90506873,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8075","last_page":"8082"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9987000226974487,"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":0.9987000226974487,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9975000023841858,"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":0.9973000288009644,"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/computer-science","display_name":"Computer science","score":0.8312518000602722},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7643862962722778},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7558718323707581},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.62684565782547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6092837452888489},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5543868541717529},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.5493134260177612},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5284754037857056},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.49809956550598145},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.49252447485923767},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4548538029193878},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4494195580482483},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4489910304546356},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4100390672683716},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.20147088170051575},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.11877095699310303}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8312518000602722},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7643862962722778},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7558718323707581},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.62684565782547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6092837452888489},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5543868541717529},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.5493134260177612},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5284754037857056},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.49809956550598145},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.49252447485923767},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4548538029193878},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4494195580482483},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4489910304546356},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4100390672683716},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.20147088170051575},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.11877095699310303},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636202","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636202","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1910014366","https://openalex.org/W1921093919","https://openalex.org/W1973080743","https://openalex.org/W1991473272","https://openalex.org/W1994114209","https://openalex.org/W2027452306","https://openalex.org/W2085612090","https://openalex.org/W2126319832","https://openalex.org/W2136119851","https://openalex.org/W2145951052","https://openalex.org/W2150066425","https://openalex.org/W2158827467","https://openalex.org/W2171072057","https://openalex.org/W2190691619","https://openalex.org/W2203584549","https://openalex.org/W2295581249","https://openalex.org/W2296035016","https://openalex.org/W2417447115","https://openalex.org/W2607060570","https://openalex.org/W2607394057","https://openalex.org/W2622098995","https://openalex.org/W2737444374","https://openalex.org/W2798930779","https://openalex.org/W2798965597","https://openalex.org/W2886499109","https://openalex.org/W2955189650","https://openalex.org/W2962922818","https://openalex.org/W2963121255","https://openalex.org/W2963627347","https://openalex.org/W2968296999","https://openalex.org/W2979798503","https://openalex.org/W2982647671","https://openalex.org/W2983397630","https://openalex.org/W2989637772","https://openalex.org/W2995681297","https://openalex.org/W3003257820","https://openalex.org/W3034716600","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3035641096","https://openalex.org/W3073789929","https://openalex.org/W3084186879","https://openalex.org/W3096093845","https://openalex.org/W3114753236","https://openalex.org/W3129373298","https://openalex.org/W3144916399","https://openalex.org/W4394671432","https://openalex.org/W6680398137","https://openalex.org/W6687484953","https://openalex.org/W6739778489","https://openalex.org/W6769984122","https://openalex.org/W6771941581","https://openalex.org/W6783054577"],"related_works":["https://openalex.org/W2534746541","https://openalex.org/W3084370450","https://openalex.org/W2008499636","https://openalex.org/W4293192611","https://openalex.org/W2595660827","https://openalex.org/W1603420203","https://openalex.org/W4248359303","https://openalex.org/W2381088697","https://openalex.org/W2221502561","https://openalex.org/W3018417972"],"abstract_inverted_index":{"Estimating":[0],"the":[1,9,31,35,60,64,81,95,127,156,163,172,186],"states":[2],"of":[3,11,22,63,88,97,158,174],"surrounding":[4],"traffic":[5],"participants":[6],"stays":[7],"at":[8,219,225],"core":[10],"autonomous":[12,194],"driving.":[13],"In":[14],"this":[15,23,54,109],"paper,":[16],"we":[17,74,115,182],"study":[18],"a":[19,86,117],"novel":[20],"setting":[21,56],"problem:":[24],"model-free":[25],"single-object":[26],"tracking":[27,46],"(SOT),":[28],"which":[29,84],"takes":[30],"object":[32],"state":[33,43,98],"in":[34,47,70,168],"first":[36],"frame":[37],"as":[38],"input,":[39],"and":[40,45,67,121,147,152,161,189,204,210,215],"jointly":[41],"solves":[42],"estimation":[44,99],"subsequent":[48],"frames.":[49],"The":[50,208],"main":[51],"purpose":[52],"for":[53,108,166,212],"new":[55,118],"is":[57,85,111,224],"to":[58],"break":[59],"strong":[61],"limitation":[62],"popular":[65],"\"detection":[66],"tracking\"":[68],"scheme":[69],"multi-object":[71],"tracking.":[72],"Moreover,":[73],"notice":[75],"that":[76],"shape":[77],"completion":[78],"by":[79],"overlaying":[80],"point":[82,141,169],"clouds,":[83,170],"by-product":[87],"our":[89,159,213],"proposed":[90,187],"task,":[91],"not":[92],"only":[93],"improves":[94],"performance":[96],"but":[100],"also":[101,183],"has":[102],"numerous":[103],"applications.":[104],"As":[105],"no":[106],"benchmark":[107,214],"task":[110,188],"available":[112,218],"so":[113],"far,":[114],"construct":[116],"dataset":[119,130],"LiDAR-SOT":[120],"corresponding":[122],"evaluation":[123],"protocols":[124,211],"based":[125],"on":[126],"Waymo":[128],"Open":[129],"[29].":[131],"We":[132],"then":[133],"propose":[134],"an":[135],"optimization-based":[136],"algorithm":[137,190,216],"called":[138],"SOTracker":[139,160],"involving":[140],"cloud":[142],"registration,":[143],"vehicle":[144],"shapes,":[145],"correspondence,":[146],"motion":[148,178,202],"priors.":[149],"Our":[150],"quantitative":[151],"qualitative":[153],"results":[154],"prove":[155],"effectiveness":[157],"reveal":[162],"challenging":[164],"cases":[165],"SOT":[167],"including":[171,197],"sparsity":[173],"LiDAR":[175,199],"data,":[176,203],"abrupt":[177],"variation,":[179],"etc.":[180],"Finally,":[181],"explore":[184],"how":[185],"may":[191],"benefit":[192],"other":[193],"driving":[195],"applications,":[196],"simulating":[198],"scans,":[200],"generating":[201],"annotating":[205],"optical":[206],"flow.":[207],"code":[209],"are":[217],"https://github.com/TuSimple/LiDAR_SOT/.":[220],"A":[221],"video":[222],"demonstration":[223],"https://www.youtube.com/watch?v=BpHixKs91i8.":[226]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
