{"id":"https://openalex.org/W3040224764","doi":"https://doi.org/10.1109/itsc45102.2020.9294288","title":"Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments","display_name":"Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments","publication_year":2020,"publication_date":"2020-09-20","ids":{"openalex":"https://openalex.org/W3040224764","doi":"https://doi.org/10.1109/itsc45102.2020.9294288","mag":"3040224764"},"language":"en","primary_location":{"id":"doi:10.1109/itsc45102.2020.9294288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc45102.2020.9294288","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2007.00161","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043482412","display_name":"Ransalu Senanayake","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ransalu Senanayake","raw_affiliation_strings":["Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA","Stanford University,Stanford Intelligent Systems Laboratory (SISL),Department of Aeronautics and Astronautics,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University,Stanford Intelligent Systems Laboratory (SISL),Department of Aeronautics and Astronautics,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061931648","display_name":"Maneekwan Toyungyernsub","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maneekwan Toyungyernsub","raw_affiliation_strings":["Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA","Stanford University,Stanford Intelligent Systems Laboratory (SISL),Department of Aeronautics and Astronautics,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University,Stanford Intelligent Systems Laboratory (SISL),Department of Aeronautics and Astronautics,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100350104","display_name":"Mingyu Wang","orcid":"https://orcid.org/0000-0002-0063-7445"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingyu Wang","raw_affiliation_strings":["Stanford Multi-Robot Systems Laboratory (MSL), Stanford University, Stanford, CA, USA","Stanford University,Stanford Multi-Robot Systems Laboratory (MSL),Department of Aeronautics and Astronautics,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford Multi-Robot Systems Laboratory (MSL), Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University,Stanford Multi-Robot Systems Laboratory (MSL),Department of Aeronautics and Astronautics,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA","Stanford University,Stanford Intelligent Systems Laboratory (SISL),Department of Aeronautics and Astronautics,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory (SISL), Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University,Stanford Intelligent Systems Laboratory (SISL),Department of Aeronautics and Astronautics,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081950488","display_name":"Mac Schwager","orcid":"https://orcid.org/0000-0002-7871-3663"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mac Schwager","raw_affiliation_strings":["Stanford Multi-Robot Systems Laboratory (MSL), Stanford University, Stanford, CA, USA","Stanford University,Stanford Multi-Robot Systems Laboratory (MSL),Department of Aeronautics and Astronautics,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford Multi-Robot Systems Laboratory (MSL), Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University,Stanford Multi-Robot Systems Laboratory (MSL),Department of Aeronautics and Astronautics,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9991999864578247,"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":0.996399998664856,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.7209954261779785},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7194415330886841},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6388627290725708},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5003631114959717},{"id":"https://openalex.org/keywords/probability-distribution","display_name":"Probability distribution","score":0.48987215757369995},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43227285146713257},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32103124260902405},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15283989906311035},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.12616407871246338},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08541688323020935}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.7209954261779785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7194415330886841},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6388627290725708},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5003631114959717},{"id":"https://openalex.org/C149441793","wikidata":"https://www.wikidata.org/wiki/Q200726","display_name":"Probability distribution","level":2,"score":0.48987215757369995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43227285146713257},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32103124260902405},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15283989906311035},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.12616407871246338},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08541688323020935},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/itsc45102.2020.9294288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc45102.2020.9294288","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2007.00161","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.00161","pdf_url":"https://arxiv.org/pdf/2007.00161","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"mag:3040224764","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2007.00161","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2007.00161","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2007.00161","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2007.00161","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.00161","pdf_url":"https://arxiv.org/pdf/2007.00161","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8399999737739563,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3040224764.pdf","grobid_xml":"https://content.openalex.org/works/W3040224764.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W953560957","https://openalex.org/W1514910877","https://openalex.org/W1578208063","https://openalex.org/W1673310716","https://openalex.org/W1992157405","https://openalex.org/W1997867537","https://openalex.org/W2087018957","https://openalex.org/W2101143083","https://openalex.org/W2108317465","https://openalex.org/W2123885062","https://openalex.org/W2125555580","https://openalex.org/W2131297510","https://openalex.org/W2131452167","https://openalex.org/W2137956165","https://openalex.org/W2140801763","https://openalex.org/W2155971774","https://openalex.org/W2158379988","https://openalex.org/W2167963375","https://openalex.org/W2281287867","https://openalex.org/W2336416123","https://openalex.org/W2424778531","https://openalex.org/W2519586580","https://openalex.org/W2551634513","https://openalex.org/W2767621168","https://openalex.org/W2771211602","https://openalex.org/W2773226774","https://openalex.org/W2799002609","https://openalex.org/W2890883362","https://openalex.org/W2898900488","https://openalex.org/W2962715980","https://openalex.org/W2962911072","https://openalex.org/W2963209451","https://openalex.org/W2963309363","https://openalex.org/W2964172396","https://openalex.org/W2966287654","https://openalex.org/W2967848505","https://openalex.org/W2970675230","https://openalex.org/W2970699755","https://openalex.org/W2980368043","https://openalex.org/W3009808098","https://openalex.org/W3102917240","https://openalex.org/W6637131181","https://openalex.org/W6680058137","https://openalex.org/W6729681630","https://openalex.org/W6767305817"],"related_works":["https://openalex.org/W3114479354","https://openalex.org/W2810229282","https://openalex.org/W3089418799","https://openalex.org/W2897179324","https://openalex.org/W3205250768","https://openalex.org/W2762651111","https://openalex.org/W2911992910","https://openalex.org/W2728018190","https://openalex.org/W2803332797","https://openalex.org/W3209693651","https://openalex.org/W2092144265","https://openalex.org/W1510068961","https://openalex.org/W3211900361","https://openalex.org/W1997491374","https://openalex.org/W2124413975","https://openalex.org/W2947986874","https://openalex.org/W1595735396","https://openalex.org/W3158006502","https://openalex.org/W3126246451","https://openalex.org/W3004624261"],"abstract_inverted_index":{"We":[0],"can":[1,69],"use":[2],"driving":[3,105],"data":[4],"collected":[5],"over":[6],"a":[7,38,54],"long":[8],"period":[9],"of":[10,23,33,40,43,51,56,75,86],"time":[11],"to":[12,78,111],"extract":[13],"rich":[14],"information":[15,42,74],"about":[16],"how":[17],"vehicles":[18,77],"behave":[19],"in":[20,83,96],"different":[21],"areas":[22],"the":[24,31,49,84,97],"roads.":[25],"In":[26],"this":[27],"paper,":[28],"we":[29,47],"introduce":[30],"concept":[32],"directional":[34],"primitives,":[35],"which":[36],"is":[37],"representation":[39],"prior":[41],"road":[44],"networks.":[45],"Specifically,":[46],"represent":[48],"uncertainty":[50],"directions":[52],"using":[53,63],"mixture":[55],"von":[57],"Mises":[58],"distributions":[59],"and":[60,94],"associated":[61],"speeds":[62],"gamma":[64],"distributions.":[65,88],"These":[66],"location-dependent":[67],"primitives":[68,109],"be":[70],"combined":[71],"with":[72],"motion":[73,114],"surrounding":[76],"predict":[79],"their":[80],"future":[81],"behavior":[82],"form":[85],"probability":[87],"Experiments":[89],"conducted":[90],"on":[91],"highways,":[92],"intersections,":[93],"roundabouts":[95],"Carla":[98],"simulator,":[99],"as":[100,102],"well":[101],"real-world":[103],"urban":[104],"datasets,":[106],"indicate":[107],"that":[108],"lead":[110],"better":[112],"uncertainty-aware":[113],"estimation.":[115]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
