{"id":"https://openalex.org/W4391768410","doi":"https://doi.org/10.1109/itsc57777.2023.10422075","title":"Path-Constrained State Estimation for Rail Vehicles","display_name":"Path-Constrained State Estimation for Rail Vehicles","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391768410","doi":"https://doi.org/10.1109/itsc57777.2023.10422075"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422075","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/627751","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054282770","display_name":"Cornelius von Einem","orcid":"https://orcid.org/0000-0003-4378-1516"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cornelius Von Einem","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab,Switzerland","Autonomous Systems Lab, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048141350","display_name":"Andrei Cramariuc","orcid":"https://orcid.org/0000-0002-9301-0253"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Andrei Cramariuc","raw_affiliation_strings":["ETH Zurich,Robotics Systems Lab,Switzerland","Robotics Systems Lab, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Robotics Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotics Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab,Switzerland","Autonomous Systems Lab, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063529163","display_name":"C\u00e9sar Cadena","orcid":"https://orcid.org/0000-0002-2972-6011"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cesar Cadena","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab,Switzerland","Autonomous Systems Lab, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042419873","display_name":"Florian Tschopp","orcid":"https://orcid.org/0000-0001-7346-2941"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Florian Tschopp","raw_affiliation_strings":["Arrival Ltd.,London,United Kingdom","Arrival Ltd., London, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arrival Ltd.,London,United Kingdom","institution_ids":[]},{"raw_affiliation_string":"Arrival Ltd., London, United Kingdom","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4600","last_page":"4607"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11568","display_name":"Railway Systems and Energy Efficiency","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11568","display_name":"Railway Systems and Energy Efficiency","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9828000068664551,"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/T10842","display_name":"Railway Engineering and Dynamics","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/estimation","display_name":"Estimation","score":0.6275712251663208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5571397542953491},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.526548445224762},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5092100501060486},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20618793368339539},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2026212513446808},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17344704270362854}],"concepts":[{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.6275712251663208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5571397542953491},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.526548445224762},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5092100501060486},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20618793368339539},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2026212513446808},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17344704270362854},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422075","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/627751","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/627751","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-b-000627751","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000627751","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/627751","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/627751","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W54893867","https://openalex.org/W1489593923","https://openalex.org/W1951690882","https://openalex.org/W1952297973","https://openalex.org/W1967261891","https://openalex.org/W1978537754","https://openalex.org/W1986388946","https://openalex.org/W1995957864","https://openalex.org/W1996111598","https://openalex.org/W1998058414","https://openalex.org/W2000791138","https://openalex.org/W2001223974","https://openalex.org/W2024676408","https://openalex.org/W2047448918","https://openalex.org/W2047465932","https://openalex.org/W2054566720","https://openalex.org/W2067575867","https://openalex.org/W2073202476","https://openalex.org/W2074065303","https://openalex.org/W2088061407","https://openalex.org/W2091790851","https://openalex.org/W2094283130","https://openalex.org/W2123487311","https://openalex.org/W2125921035","https://openalex.org/W2128251465","https://openalex.org/W2142131508","https://openalex.org/W2143737806","https://openalex.org/W2162533123","https://openalex.org/W2166771065","https://openalex.org/W2362637581","https://openalex.org/W2514362962","https://openalex.org/W2527971061","https://openalex.org/W2565316591","https://openalex.org/W2588080234","https://openalex.org/W2626982831","https://openalex.org/W2750627398","https://openalex.org/W2768737714","https://openalex.org/W2792006036","https://openalex.org/W2794701478","https://openalex.org/W2927713386","https://openalex.org/W2952181406","https://openalex.org/W2955652750","https://openalex.org/W3043856344","https://openalex.org/W3047322465","https://openalex.org/W3090193747","https://openalex.org/W3094157180","https://openalex.org/W3098639022","https://openalex.org/W3105949586","https://openalex.org/W3113029756","https://openalex.org/W3129387092","https://openalex.org/W3205951039","https://openalex.org/W3211825768","https://openalex.org/W4285149518","https://openalex.org/W4285813037","https://openalex.org/W4297804401","https://openalex.org/W6631858602","https://openalex.org/W6632530909"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W2350741829","https://openalex.org/W2530322880","https://openalex.org/W1596801655"],"abstract_inverted_index":{"Globally":[0],"rising":[1],"demand":[2],"for":[3,109,144,152],"transportation":[4],"by":[5,101],"rail":[6,76],"is":[7,48,83],"pushing":[8],"existing":[9],"infrastructure":[10],"to":[11,25,57,107,171,188],"its":[12],"capacity":[13],"limits,":[14],"necessitating":[15],"the":[16,38,63,67,72,81,88,94,118,123,137],"development":[17],"of":[18,41,66,75,98,127,139,179,186],"accurate,":[19],"robust,":[20],"and":[21,28,43,125,148,167,181],"high-frequency":[22],"positioning":[23],"systems":[24],"ensure":[26],"safe":[27],"efficient":[29],"train":[30,100],"operation.":[31],"As":[32],"individual":[33],"sensor":[34,54],"modalities":[35,60],"cannot":[36],"satisfy":[37],"strict":[39],"requirements":[40],"robustness":[42],"safety,":[44],"a":[45,52,99,103,113,149,165,182],"combination":[46],"thereof":[47],"required.":[49],"We":[50,91,121,155],"propose":[51],"path-constrained":[53],"fusion":[55,129],"framework":[56,130],"integrate":[58],"various":[59],"while":[61],"leveraging":[62],"unique":[64],"characteristics":[65],"railway":[68,119],"network.":[69,120],"To":[70],"reflect":[71],"constrained":[73],"motion":[74,146],"vehicles":[77],"along":[78,87],"their":[79],"tracks,":[80],"state":[82],"modeled":[84],"in":[85,136],"1D":[86],"track":[89,183],"geometry.":[90],"further":[92],"leverage":[93],"limited":[95],"action":[96],"space":[97],"employing":[102],"novel":[104],"multi-hypothesis":[105],"tracking":[106],"account":[108],"multiple":[110,132],"possible":[111],"trajectories":[112],"vehicle":[114],"can":[115],"take":[116],"through":[117],"demonstrate":[122],"reliability":[124],"accuracy":[126],"our":[128,157,169],"on":[131],"tram":[133],"datasets":[134],"recorded":[135,163],"city":[138],"Zurich,":[140],"utilizing":[141],"Visual-Inertial":[142],"Odometry":[143],"local":[145],"estimation":[147],"standard":[150,172],"GNSS":[151],"global":[153],"localization.":[154],"evaluate":[156],"results":[158],"using":[159],"ground":[160],"truth":[161],"localizations":[162],"with":[164],"RTK-GNSS,":[166],"compare":[168],"method":[170],"baselines.":[173],"A":[174],"Root":[175],"Mean":[176],"Square":[177],"Error":[178],"4.78m":[180],"selectivity":[184],"score":[185],"up":[187],"94.9%":[189],"have":[190],"been":[191],"achieved.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}