{"id":"https://openalex.org/W4308068695","doi":"https://doi.org/10.1109/itsc55140.2022.9921855","title":"Multi-Agent Cooperative Camera-Based Evidential Occupancy Grid Generation","display_name":"Multi-Agent Cooperative Camera-Based Evidential Occupancy Grid Generation","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308068695","doi":"https://doi.org/10.1109/itsc55140.2022.9921855"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9921855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921855","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03870700","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036439547","display_name":"Antoine Caillot","orcid":"https://orcid.org/0000-0002-6843-7255"},"institutions":[{"id":"https://openalex.org/I2802505300","display_name":"\u00c9cole Sup\u00e9rieure d'Ing\u00e9nieurs en G\u00e9nie \u00c9lectrique","ror":"https://ror.org/01apwkd48","country_code":"FR","type":"education","lineage":["https://openalex.org/I2802505300"]},{"id":"https://openalex.org/I4210105918","display_name":"Normandie Universit\u00e9","ror":"https://ror.org/01k40cz91","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918"]},{"id":"https://openalex.org/I4392021201","display_name":"Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s","ror":"https://ror.org/00y3jmn59","country_code":null,"type":"facility","lineage":["https://openalex.org/I2802505300","https://openalex.org/I4210105918","https://openalex.org/I4392021201","https://openalex.org/I62396329"]},{"id":"https://openalex.org/I62396329","display_name":"Universit\u00e9 de Rouen Normandie","ror":"https://ror.org/03nhjew95","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I62396329"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Antoine Caillot","raw_affiliation_strings":["Normandie Univ, UNIROUEN, ESIGELEC, IRSEEM,Rouen,France,76000"],"affiliations":[{"raw_affiliation_string":"Normandie Univ, UNIROUEN, ESIGELEC, IRSEEM,Rouen,France,76000","institution_ids":["https://openalex.org/I62396329","https://openalex.org/I4392021201","https://openalex.org/I2802505300","https://openalex.org/I4210105918"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057738809","display_name":"Safa Ouerghi","orcid":null},"institutions":[{"id":"https://openalex.org/I2802505300","display_name":"\u00c9cole Sup\u00e9rieure d'Ing\u00e9nieurs en G\u00e9nie \u00c9lectrique","ror":"https://ror.org/01apwkd48","country_code":"FR","type":"education","lineage":["https://openalex.org/I2802505300"]},{"id":"https://openalex.org/I4210105918","display_name":"Normandie Universit\u00e9","ror":"https://ror.org/01k40cz91","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918"]},{"id":"https://openalex.org/I4392021201","display_name":"Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s","ror":"https://ror.org/00y3jmn59","country_code":null,"type":"facility","lineage":["https://openalex.org/I2802505300","https://openalex.org/I4210105918","https://openalex.org/I4392021201","https://openalex.org/I62396329"]},{"id":"https://openalex.org/I62396329","display_name":"Universit\u00e9 de Rouen Normandie","ror":"https://ror.org/03nhjew95","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I62396329"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Safa Ouerghi","raw_affiliation_strings":["Normandie Univ, UNIROUEN, ESIGELEC, IRSEEM,Rouen,France,76000"],"affiliations":[{"raw_affiliation_string":"Normandie Univ, UNIROUEN, ESIGELEC, IRSEEM,Rouen,France,76000","institution_ids":["https://openalex.org/I62396329","https://openalex.org/I4392021201","https://openalex.org/I2802505300","https://openalex.org/I4210105918"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010705731","display_name":"Pascal Vasseur","orcid":"https://orcid.org/0000-0001-5145-9653"},"institutions":[{"id":"https://openalex.org/I4401200318","display_name":"Mod\u00e9lisation, information et syst\u00e8mes","ror":"https://ror.org/05w9qrp28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]},{"id":"https://openalex.org/I4647051","display_name":"Universit\u00e9 de Picardie Jules Verne","ror":"https://ror.org/01gyxrk03","country_code":"FR","type":"education","lineage":["https://openalex.org/I4647051"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pascal Vasseur","raw_affiliation_strings":["Universite de Picardie Jules Verne, UFR des Sciences,Laboratoire MIS,Department Informatique,Amiens,France,80000"],"affiliations":[{"raw_affiliation_string":"Universite de Picardie Jules Verne, UFR des Sciences,Laboratoire MIS,Department Informatique,Amiens,France,80000","institution_ids":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018852344","display_name":"Yohan Dupuis","orcid":"https://orcid.org/0000-0002-9725-2049"},"institutions":[{"id":"https://openalex.org/I4210155362","display_name":"Centre d'Etudes Superieures Industrielles","ror":"https://ror.org/04f87d812","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210155362"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yohan Dupuis","raw_affiliation_strings":["LINEACT CESI, Paris La Defense,Paris,France"],"affiliations":[{"raw_affiliation_string":"LINEACT CESI, Paris La Defense,Paris,France","institution_ids":["https://openalex.org/I4210155362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013194782","display_name":"R\u00e9mi Boutteau","orcid":"https://orcid.org/0000-0003-1078-5043"},"institutions":[{"id":"https://openalex.org/I4210105918","display_name":"Normandie Universit\u00e9","ror":"https://ror.org/01k40cz91","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918"]},{"id":"https://openalex.org/I4210108118","display_name":"Laboratoire d'Informatique, du Traitement de l'Information et des Syst\u00e8mes","ror":"https://ror.org/01f1vfy95","country_code":"FR","type":"facility","lineage":["https://openalex.org/I141576021","https://openalex.org/I4210105918","https://openalex.org/I4210105918","https://openalex.org/I4210105918","https://openalex.org/I4210108118","https://openalex.org/I62396329","https://openalex.org/I88814501"]},{"id":"https://openalex.org/I62396329","display_name":"Universit\u00e9 de Rouen Normandie","ror":"https://ror.org/03nhjew95","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I62396329"]},{"id":"https://openalex.org/I88814501","display_name":"Institut National des Sciences Appliqu\u00e9es Rouen Normandie","ror":"https://ror.org/020ws7586","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I88814501"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Remi Boutteau","raw_affiliation_strings":["Normandie Univ, UNIROUEN, UNILEHAVRE, INSA Rouen, LITIS,Rouen,France,76000"],"affiliations":[{"raw_affiliation_string":"Normandie Univ, UNIROUEN, UNILEHAVRE, INSA Rouen, LITIS,Rouen,France,76000","institution_ids":["https://openalex.org/I88814501","https://openalex.org/I4210108118","https://openalex.org/I62396329","https://openalex.org/I4210105918"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5036439547"],"corresponding_institution_ids":["https://openalex.org/I2802505300","https://openalex.org/I4210105918","https://openalex.org/I4392021201","https://openalex.org/I62396329"],"apc_list":null,"apc_paid":null,"fwci":0.6491,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.62390386,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"203","last_page":"209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.998199999332428,"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":0.998199999332428,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.9873999953269958,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.7540221214294434},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7227678298950195},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6337642669677734},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.5993958115577698},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5838886499404907},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.550476610660553},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.49137917160987854},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4801894426345825},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.47346702218055725},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4383033514022827},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4275580048561096},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3218849301338196},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.3210833966732025},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24935531616210938},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1403828263282776},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.11522215604782104},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08120685815811157},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08084988594055176}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.7540221214294434},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7227678298950195},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6337642669677734},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.5993958115577698},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5838886499404907},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.550476610660553},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.49137917160987854},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4801894426345825},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.47346702218055725},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4383033514022827},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4275580048561096},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3218849301338196},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3210833966732025},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24935531616210938},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1403828263282776},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.11522215604782104},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08120685815811157},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08084988594055176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc55140.2022.9921855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921855","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03870700v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03870700","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), Oct 2022, Macau, China. pp.203-209, &#x27E8;10.1109/ITSC55140.2022.9921855&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03870700v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03870700","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), Oct 2022, Macau, China. pp.203-209, &#x27E8;10.1109/ITSC55140.2022.9921855&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.47999998927116394,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1494890444","https://openalex.org/W1600834507","https://openalex.org/W1986970923","https://openalex.org/W1999050017","https://openalex.org/W2001529084","https://openalex.org/W2031575274","https://openalex.org/W2113815908","https://openalex.org/W2154418813","https://openalex.org/W2209124607","https://openalex.org/W2336416123","https://openalex.org/W2806340142","https://openalex.org/W2887725811","https://openalex.org/W2901136733","https://openalex.org/W2908058485","https://openalex.org/W2950176442","https://openalex.org/W2951592577","https://openalex.org/W2963440325","https://openalex.org/W2963851219","https://openalex.org/W2982681137","https://openalex.org/W2997966207","https://openalex.org/W3047185941","https://openalex.org/W3162167837","https://openalex.org/W3207475467","https://openalex.org/W4225818300","https://openalex.org/W4293584584","https://openalex.org/W4295719664"],"related_works":["https://openalex.org/W4282043467","https://openalex.org/W2105697914","https://openalex.org/W3093197249","https://openalex.org/W1968324288","https://openalex.org/W2162255319","https://openalex.org/W5037887","https://openalex.org/W1999050017","https://openalex.org/W4293877624","https://openalex.org/W4229444815","https://openalex.org/W1538887534"],"abstract_inverted_index":{"About":[0],"a":[1,32,103,108,121,135],"decade":[2],"ago":[3],"the":[4,14,38,52,56,62,68,71,75,115,142,162],"idea":[5],"of":[6,35,37,65,70,89,151],"cooperation":[7,59],"has":[8],"been":[9],"introduced":[10],"to":[11,16,49,80,106,125],"self-driving":[12],"with":[13,94],"aim":[15],"enhance":[17],"safety":[18],"in":[19,55,67,129],"dangerous":[20],"places":[21],"such":[22],"as":[23],"intersections.":[24],"Infrastructure-based":[25],"cooperative":[26,109,137,154],"systems":[27],"emerged":[28],"very":[29],"recently":[30],"bringing":[31],"new":[33,104,136,153],"point":[34,64],"view":[36,66],"scene":[39],"and":[40,118],"more":[41],"computation":[42],"power.":[43],"In":[44],"this":[45,98],"paper,":[46],"we":[47,78,101,146],"want":[48],"go":[50],"beyond":[51],"framework":[53,105,124],"presented":[54],"vehicle-to-infrastructure":[57],"(V2I)":[58],"by":[60],"including":[61],"vehicle's":[63],"perception":[69],"environment.":[72],"To":[73],"keep":[74],"cost":[76],"low,":[77],"decided":[79],"use":[81],"only":[82],"two-dimensional":[83],"bounding":[84],"boxes,":[85],"thus":[86],"depriving":[87],"ourselves":[88],"depth":[90],"information":[91],"that":[92],"contrasts":[93],"state-of-the-art":[95,163],"methods.":[96],"With":[97],"in-the-scene":[99],"point-of-view,":[100],"propose":[102],"generate":[107],"evidential":[110],"occupancy":[111,155],"grid":[112,156],"based":[113,140],"on":[114,141],"Dempster-Shafer":[116],"Theory":[117],"which":[119,160],"employs":[120],"Monte":[122],"Carlo":[123],"incorporate":[126],"position":[127],"noise":[128],"our":[130,152],"algorithm.":[131],"We":[132],"also":[133],"provide":[134,147],"dataset":[138],"generator":[139],"CARLA":[143],"simulator.":[144],"Finally,":[145],"an":[148],"extended":[149],"review":[150],"map":[157],"generation":[158],"method":[159],"improves":[161],"techniques.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
