{"id":"https://openalex.org/W2129557605","doi":"https://doi.org/10.1109/itsc.2009.5309851","title":"Time to contact estimation using interest points","display_name":"Time to contact estimation using interest points","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2129557605","doi":"https://doi.org/10.1109/itsc.2009.5309851","mag":"2129557605"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2009.5309851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2009.5309851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 12th International IEEE Conference on Intelligent Transportation Systems","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/A5047192599","display_name":"Dennis M\u00fcller","orcid":"https://orcid.org/0000-0002-4482-4912"},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Dennis Muller","raw_affiliation_strings":["University of Duisburg-Essen, Duisburg, Germany","University Duisburg-Essen,Duisburg,Germany"],"affiliations":[{"raw_affiliation_string":"University of Duisburg-Essen, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]},{"raw_affiliation_string":"University Duisburg-Essen,Duisburg,Germany","institution_ids":["https://openalex.org/I62318514"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050558405","display_name":"Josef Pauli","orcid":"https://orcid.org/0000-0003-0363-6410"},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Josef Pauli","raw_affiliation_strings":["University of Duisburg-Essen, Duisburg, Germany","University Duisburg-Essen,Duisburg,Germany"],"affiliations":[{"raw_affiliation_string":"University of Duisburg-Essen, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]},{"raw_affiliation_string":"University Duisburg-Essen,Duisburg,Germany","institution_ids":["https://openalex.org/I62318514"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025596430","display_name":"Christian Nunn","orcid":null},"institutions":[{"id":"https://openalex.org/I4210130520","display_name":"Aptiv (Germany)","ror":"https://ror.org/039sb8791","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210107152","https://openalex.org/I4210130520"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Nunn","raw_affiliation_strings":["Delphi Electronics and Safety, Wuppertal, Germany"],"affiliations":[{"raw_affiliation_string":"Delphi Electronics and Safety, Wuppertal, Germany","institution_ids":["https://openalex.org/I4210130520"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054085437","display_name":"Steffen Gormer","orcid":null},"institutions":[{"id":"https://openalex.org/I4210130520","display_name":"Aptiv (Germany)","ror":"https://ror.org/039sb8791","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210107152","https://openalex.org/I4210130520"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen Gormer","raw_affiliation_strings":["Delphi Electronics and Safety, Wuppertal, Germany"],"affiliations":[{"raw_affiliation_string":"Delphi Electronics and Safety, Wuppertal, Germany","institution_ids":["https://openalex.org/I4210130520"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060536975","display_name":"Stefan M\u00fcller-Schneiders","orcid":null},"institutions":[{"id":"https://openalex.org/I4210130520","display_name":"Aptiv (Germany)","ror":"https://ror.org/039sb8791","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210107152","https://openalex.org/I4210130520"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Muller-Schneiders","raw_affiliation_strings":["Delphi Electronics and Safety, Wuppertal, Germany"],"affiliations":[{"raw_affiliation_string":"Delphi Electronics and Safety, Wuppertal, Germany","institution_ids":["https://openalex.org/I4210130520"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5047192599"],"corresponding_institution_ids":["https://openalex.org/I62318514"],"apc_list":null,"apc_paid":null,"fwci":2.265,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.89712488,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9991999864578247,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.996999979019165,"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/computation","display_name":"Computation","score":0.6825805306434631},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6566406488418579},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6451995968818665},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.6010560393333435},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5994787216186523},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5268641710281372},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5023746490478516},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.489450603723526},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.48728835582733154},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.48181501030921936},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.44405239820480347},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42259958386421204},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4153527021408081},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2478010654449463}],"concepts":[{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6825805306434631},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6566406488418579},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6451995968818665},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.6010560393333435},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5994787216186523},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5268641710281372},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5023746490478516},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.489450603723526},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.48728835582733154},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.48181501030921936},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.44405239820480347},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42259958386421204},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4153527021408081},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2478010654449463},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2009.5309851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2009.5309851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 12th International IEEE Conference on Intelligent Transportation Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1194693465","https://openalex.org/W1487814388","https://openalex.org/W1506990310","https://openalex.org/W1570192897","https://openalex.org/W2016151598","https://openalex.org/W2096579816","https://openalex.org/W2111308925","https://openalex.org/W2116122553","https://openalex.org/W2116611929","https://openalex.org/W2122723498","https://openalex.org/W2149495871","https://openalex.org/W2151103935","https://openalex.org/W2546311737","https://openalex.org/W2975461012","https://openalex.org/W3022404379","https://openalex.org/W6627862381","https://openalex.org/W6629098941","https://openalex.org/W6676770471","https://openalex.org/W6681158678"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2055301889","https://openalex.org/W4400979532","https://openalex.org/W2376554934","https://openalex.org/W2077790809","https://openalex.org/W1505959757"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,54,94],"novel":[4],"approach":[5],"to":[6,26,40,73,80,106,116],"obtain":[7],"reliable":[8],"and":[9,35,62,78,124],"robust":[10,37],"time-to-contact":[11,83],"estimates":[12],"from":[13],"monocular":[15],"moving":[16],"camera":[17],"observing":[18],"various":[19],"obstacles.":[20],"The":[21,88],"algorithm":[22,89,113],"utilizes":[23],"interest":[24],"points":[25],"measure":[27],"the":[28,42,75,82,85,111],"relative":[29],"scale":[30],"change":[31],"of":[32,47,97,109],"an":[33],"obstacle":[34],"applies":[36],"estimation":[38],"techniques":[39],"combine":[41],"different":[43],"measurements":[44],"into":[45],"one":[46],"three":[48],"possible":[49,123],"motion":[50],"models.":[51],"These":[52],"include":[53],"model":[55,69,77],"with":[56,59,63,84,101],"constant":[57,60,64],"distance,":[58],"velocity":[61],"acceleration.":[65],"An":[66],"interacting":[67],"multiple":[68],"framework":[70],"is":[71,91,114,125],"used":[72],"select":[74],"appropriate":[76],"finally":[79],"estimate":[81],"observed":[86],"obstacle.":[87],"presented":[90],"evaluated":[92],"utilizing":[93],"large":[95],"set":[96],"recorded":[98],"video":[99],"sequences":[100],"radar":[102],"ground":[103],"truth.":[104],"Due":[105],"its":[107],"field":[108],"application":[110],"entire":[112],"designed":[115],"use":[117],"as":[118,122],"little":[119],"computation":[120],"time":[121],"thus":[126],"realtime":[127],"capable.":[128]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}