{"id":"https://openalex.org/W3181984963","doi":"https://doi.org/10.1109/itsc48978.2021.9565071","title":"Pedestrian Emergence Estimation and Occlusion-Aware Risk Assessment for Urban Autonomous Driving","display_name":"Pedestrian Emergence Estimation and Occlusion-Aware Risk Assessment for Urban Autonomous Driving","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3181984963","doi":"https://doi.org/10.1109/itsc48978.2021.9565071","mag":"3181984963"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9565071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9565071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2107.02326","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076974405","display_name":"Mert Koc","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mert Koc","raw_affiliation_strings":["Currently working at Oztech Inc., Columbus, Ohio, USA","The Ohio State University, Columbus, Ohio, USA","The Ohio State University,The Department of Electrical and Computer Engineering,Columbus,Ohio,USA"],"affiliations":[{"raw_affiliation_string":"Currently working at Oztech Inc., Columbus, Ohio, USA","institution_ids":[]},{"raw_affiliation_string":"The Ohio State University, Columbus, Ohio, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"The Ohio State University,The Department of Electrical and Computer Engineering,Columbus,Ohio,USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031280652","display_name":"Ekim Yurtsever","orcid":"https://orcid.org/0000-0002-3103-6052"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ekim Yurtsever","raw_affiliation_strings":["The Ohio State University, Columbus, Ohio, USA","The Ohio State University,The Department of Electrical and Computer Engineering,Columbus,Ohio,USA"],"affiliations":[{"raw_affiliation_string":"The Ohio State University, Columbus, Ohio, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"The Ohio State University,The Department of Electrical and Computer Engineering,Columbus,Ohio,USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088312544","display_name":"Keith Redmill","orcid":"https://orcid.org/0000-0003-1332-1332"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Keith Redmill","raw_affiliation_strings":["The Ohio State University, Columbus, Ohio, USA","The Ohio State University,The Department of Electrical and Computer Engineering,Columbus,Ohio,USA"],"affiliations":[{"raw_affiliation_string":"The Ohio State University, Columbus, Ohio, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"The Ohio State University,The Department of Electrical and Computer Engineering,Columbus,Ohio,USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024559779","display_name":"\u00dcmi\u0307t \u00d6zg\u00fcner","orcid":"https://orcid.org/0000-0003-2241-7547"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Umit Ozguner","raw_affiliation_strings":["The Ohio State University, Columbus, Ohio, USA","Ohio State University"],"affiliations":[{"raw_affiliation_string":"The Ohio State University, Columbus, Ohio, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Ohio State University","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076974405"],"corresponding_institution_ids":["https://openalex.org/I52357470"],"apc_list":null,"apc_paid":null,"fwci":0.1859,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.49101611,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"292","last_page":"297"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":1.0,"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":1.0,"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/T10524","display_name":"Traffic control and management","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10370","display_name":"Traffic and Road Safety","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/pedestrian","display_name":"Pedestrian","score":0.8633520603179932},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.637245774269104},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6086876392364502},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4987647533416748},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4695713520050049},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.45978477597236633},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4426334500312805},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41179192066192627},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.2928847670555115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14653843641281128}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.8633520603179932},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.637245774269104},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6086876392364502},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4987647533416748},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4695713520050049},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.45978477597236633},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4426334500312805},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41179192066192627},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.2928847670555115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14653843641281128},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/itsc48978.2021.9565071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9565071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2107.02326","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.02326","pdf_url":"https://arxiv.org/pdf/2107.02326","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:3181984963","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2107.02326.pdf","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.2107.02326","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2107.02326","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":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2107.02326","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.02326","pdf_url":"https://arxiv.org/pdf/2107.02326","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8299999833106995}],"awards":[{"id":"https://openalex.org/G727061456","display_name":null,"funder_award_id":"69A3551747111","funder_id":"https://openalex.org/F4320306108","funder_display_name":"U.S. Department of Transportation"}],"funders":[{"id":"https://openalex.org/F4320306108","display_name":"U.S. Department of Transportation","ror":"https://ror.org/02xfw2e90"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3181984963.pdf","grobid_xml":"https://content.openalex.org/works/W3181984963.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W155097506","https://openalex.org/W1986196428","https://openalex.org/W2021667711","https://openalex.org/W2055501135","https://openalex.org/W2097545165","https://openalex.org/W2136202932","https://openalex.org/W2530849036","https://openalex.org/W2560882727","https://openalex.org/W2740526109","https://openalex.org/W2793099759","https://openalex.org/W2809695613","https://openalex.org/W2890356250","https://openalex.org/W2890685830","https://openalex.org/W2891629498","https://openalex.org/W2951875426","https://openalex.org/W2963427465","https://openalex.org/W2963488412","https://openalex.org/W2970046048","https://openalex.org/W2970441374","https://openalex.org/W2970452918","https://openalex.org/W2986015317","https://openalex.org/W3000383034","https://openalex.org/W3104409632","https://openalex.org/W3168678903","https://openalex.org/W6680080562","https://openalex.org/W6741908536","https://openalex.org/W6748840216","https://openalex.org/W6754417007","https://openalex.org/W6796230371"],"related_works":["https://openalex.org/W3209315120","https://openalex.org/W2974662698","https://openalex.org/W3211686163","https://openalex.org/W3088097430","https://openalex.org/W2952393313","https://openalex.org/W2961464171","https://openalex.org/W2998039866","https://openalex.org/W2989461812","https://openalex.org/W3000770372","https://openalex.org/W2291379690","https://openalex.org/W3012359170","https://openalex.org/W2791062716","https://openalex.org/W3129163909","https://openalex.org/W3208686032","https://openalex.org/W2890685830","https://openalex.org/W2781888848","https://openalex.org/W2565964811","https://openalex.org/W2623273606","https://openalex.org/W3120878374","https://openalex.org/W3086118399"],"abstract_inverted_index":{"Avoiding":[0],"unseen":[1],"or":[2],"partially":[3],"occluded":[4,66,116],"vulnerable":[5],"road":[6],"users":[7],"(VRUs)":[8],"is":[9,88],"a":[10,33,74,81],"major":[11],"challenge":[12],"for":[13,42],"fully":[14],"autonomous":[15,44],"driving":[16,99],"in":[17,65,73,131],"urban":[18,43],"scenes.":[19],"However,":[20],"occlusion-aware":[21,38],"risk":[22,39,75],"assessment":[23,40,76],"systems":[24],"have":[25],"not":[26],"been":[27],"widely":[28],"studied.":[29],"Here,":[30],"we":[31],"propose":[32],"pedestrian":[34,62],"emergence":[35,63],"estimation":[36],"and":[37,58,78,110,122,135],"system":[41,49],"driving.":[45],"First,":[46],"the":[47,118,129],"proposed":[48,86,126],"utilizes":[50],"available":[51],"contextual":[52],"information,":[53],"such":[54],"as":[55],"visible":[56],"cars":[57,109],"pedestrians,":[59,111],"to":[60],"estimate":[61],"probabilities":[64,69],"regions.":[67],"These":[68],"are":[70,115],"then":[71],"used":[72],"framework,":[77],"incorporated":[79],"into":[80],"longitudinal":[82],"motion":[83],"controller.":[84],"The":[85,101,125],"controller":[87,127],"tested":[89],"against":[90],"several":[91],"baseline":[92],"controllers":[93],"that":[94],"recapitulate":[95],"some":[96],"commonly":[97],"observed":[98],"styles.":[100],"simulated":[102],"test":[103],"scenarios":[104],"include":[105],"randomly":[106],"placed":[107],"parked":[108],"most":[112],"of":[113,133],"whom":[114],"from":[117],"ego":[119],"vehicle's":[120],"view":[121],"emerges":[123],"randomly.":[124],"outperformed":[128],"baselines":[130],"terms":[132],"safety":[134],"comfort":[136],"measures.":[137]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2022-07-25T00:00:00"}