{"id":"https://openalex.org/W4416750411","doi":"https://doi.org/10.1109/iros60139.2025.11246930","title":"Radar-Based NLoS Pedestrian Localization for Darting-Out Scenarios Near Parked Vehicles with Camera-Assisted Point Cloud Interpretation","display_name":"Radar-Based NLoS Pedestrian Localization for Darting-Out Scenarios Near Parked Vehicles with Camera-Assisted Point Cloud Interpretation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750411","doi":"https://doi.org/10.1109/iros60139.2025.11246930"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":null,"display_name":"Hee-Yeun Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hee-Yeun Kim","raw_affiliation_strings":["Seoul National University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054440972","display_name":"Byeonggyu Park","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byeonggyu Park","raw_affiliation_strings":["Seoul National University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026207759","display_name":"Byonghyok Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byonghyok Choi","raw_affiliation_strings":["Samsung Electro-Mechanics Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Electro-Mechanics Co., Ltd","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102782196","display_name":"Hansang Cho","orcid":"https://orcid.org/0000-0003-4165-5671"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hansang Cho","raw_affiliation_strings":["Samsung Electro-Mechanics Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Electro-Mechanics Co., Ltd","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020986522","display_name":"Byungkwan Kim","orcid":"https://orcid.org/0000-0002-2414-1292"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byungkwan Kim","raw_affiliation_strings":["Chungnam National University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chungnam National University","institution_ids":["https://openalex.org/I196345858"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085947812","display_name":"Soomok Lee","orcid":"https://orcid.org/0000-0001-6633-997X"},"institutions":[{"id":"https://openalex.org/I57664883","display_name":"Ajou University","ror":"https://ror.org/03tzb2h73","country_code":"KR","type":"education","lineage":["https://openalex.org/I57664883"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Soomok Lee","raw_affiliation_strings":["Ajou University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ajou University","institution_ids":["https://openalex.org/I57664883"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052484096","display_name":"Mingu Jeon","orcid":"https://orcid.org/0000-0002-5172-2711"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Mingu Jeon","raw_affiliation_strings":["Seoul National University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109787214","display_name":"Seung-Woo Seo","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung-Woo Seo","raw_affiliation_strings":["Seoul National University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003891259","display_name":"Seung\u2010Woo Kim","orcid":"https://orcid.org/0000-0003-0235-1739"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seong-Woo Kim","raw_affiliation_strings":["Seoul National University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4985,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.70935041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"21352","last_page":"21359"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.2498999983072281,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.2498999983072281,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.15309999883174896,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.11940000206232071,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/non-line-of-sight-propagation","display_name":"Non-line-of-sight propagation","score":0.765500009059906},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.6589999794960022},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5616999864578247},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.44209998846054077},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.38040000200271606},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.36800000071525574},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.35530000925064087},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.3467000126838684}],"concepts":[{"id":"https://openalex.org/C154910267","wikidata":"https://www.wikidata.org/wiki/Q1740982","display_name":"Non-line-of-sight propagation","level":3,"score":0.765500009059906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6931999921798706},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.6589999794960022},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5742999911308289},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5616999864578247},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4982999861240387},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.44209998846054077},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.42089998722076416},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.38040000200271606},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.36800000071525574},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.35530000925064087},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3467000126838684},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C22041718","wikidata":"https://www.wikidata.org/wiki/Q638949","display_name":"Geolocation","level":2,"score":0.32589998841285706},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3009999990463257},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27070000767707825},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C87360688","wikidata":"https://www.wikidata.org/wiki/Q740686","display_name":"Synthetic aperture radar","level":2,"score":0.263700008392334},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322064","display_name":"Korea Institute for Advancement of Technology","ror":"https://ror.org/015w1qa96"},{"id":"https://openalex.org/F4320332195","display_name":"Samsung","ror":"https://ror.org/04w3jy968"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1986970923","https://openalex.org/W2011378912","https://openalex.org/W2031575274","https://openalex.org/W2054428259","https://openalex.org/W2955639361","https://openalex.org/W3040834102","https://openalex.org/W3173727695","https://openalex.org/W4200604818","https://openalex.org/W4210358281","https://openalex.org/W4312629557","https://openalex.org/W4313069694","https://openalex.org/W4381745307","https://openalex.org/W4387623673","https://openalex.org/W4405232520","https://openalex.org/W4407450421"],"related_works":[],"abstract_inverted_index":{"The":[0,150],"presence":[1],"of":[2,27],"Non-Line-of-Sight":[3],"(NLoS)":[4],"blind":[5],"spots":[6],"resulting":[7],"from":[8,81,108],"roadside":[9],"parking":[10],"in":[11,75,184],"urban":[12,186],"environments":[13,188],"poses":[14],"a":[15],"significant":[16],"challenge":[17,73],"to":[18,23,35,123,162,176,200],"road":[19,120,187,202],"safety,":[20],"particularly":[21],"due":[22],"the":[24,191],"sudden":[25],"emergence":[26],"pedestrians.":[28],"mmWave":[29],"technology":[30],"leverages":[31],"diffraction":[32],"and":[33,39,68,100,167,198],"reflection":[34],"observe":[36],"NLoS":[37,134],"regions,":[38],"recent":[40],"studies":[41],"have":[42],"demonstrated":[43],"its":[44],"potential":[45],"for":[46],"detecting":[47],"obscured":[48],"objects.":[49],"However,":[50],"existing":[51],"approaches":[52],"predominantly":[53],"rely":[54],"on":[55],"predefined":[56,113],"spatial":[57,92,105,165,179],"information":[58,106,171],"or":[59,111],"assume":[60],"simple":[61],"wall":[62],"reflections,":[63],"thereby":[64],"limiting":[65],"their":[66],"generalizability":[67],"practical":[69],"applicability.":[70],"A":[71],"particular":[72],"arises":[74],"scenarios":[76],"where":[77],"pedestrians":[78],"suddenly":[79],"appear":[80],"between":[82],"parked":[83,87,96,155],"vehicles,":[84],"as":[85,90],"these":[86],"vehicles":[88,97,156],"act":[89],"temporary":[91],"obstructions.":[93],"Furthermore,":[94],"since":[95],"are":[98,206],"dynamic":[99],"may":[101,115],"relocate":[102],"over":[103],"time,":[104],"obtained":[107],"satellite":[109],"maps":[110],"other":[112],"sources":[114],"not":[116],"accurately":[117],"reflect":[118],"real-time":[119],"conditions,":[121],"leading":[122],"erroneous":[124],"sensor":[125],"interpretations.":[126],"To":[127],"address":[128],"this":[129,170],"limitation,":[130],"we":[131],"propose":[132],"an":[133],"pedestrian":[135,196],"localization":[136],"framework":[137],"that":[138,190],"integrates":[139],"monocular":[140],"camera":[141],"image":[142,158],"with":[143],"2D":[144,173],"radar":[145,174],"point":[146],"cloud":[147],"(PCD)":[148],"data.":[149],"proposed":[151,192],"method":[152],"initially":[153],"detects":[154],"through":[157],"segmentation,":[159],"estimates":[160],"depth":[161],"infer":[163],"approximate":[164],"characteristics,":[166],"subsequently":[168],"refines":[169],"using":[172],"PCD":[175],"achieve":[177],"precise":[178],"inference.":[180],"Experimental":[181],"evaluations":[182],"conducted":[183],"real-world":[185],"demonstrate":[189],"approach":[193],"enhances":[194],"early":[195],"detection":[197],"contributes":[199],"improved":[201],"safety.":[203],"Supplementary":[204],"materials":[205],"available":[207],"at":[208],"https://hiyeun.github.io/NLoS/.":[209]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}