{"id":"https://openalex.org/W4385363726","doi":"https://doi.org/10.1109/iv55152.2023.10186773","title":"HD Map Generation from Noisy Multi-Route Vehicle Fleet Data on Highways with Expectation Maximization","display_name":"HD Map Generation from Noisy Multi-Route Vehicle Fleet Data on Highways with Expectation Maximization","publication_year":2023,"publication_date":"2023-06-04","ids":{"openalex":"https://openalex.org/W4385363726","doi":"https://doi.org/10.1109/iv55152.2023.10186773"},"language":"en","primary_location":{"id":"doi:10.1109/iv55152.2023.10186773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","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/A5019186026","display_name":"Fabian Immel","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Fabian Immel","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany","FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040929862","display_name":"Richard Fehler","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Richard Fehler","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany","FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068880589","display_name":"Mohammad M. Ghanaat","orcid":null},"institutions":[{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mohammad M. Ghanaat","raw_affiliation_strings":["Mercedes-Benz AG,Research & Development,Sindelfingen,Germany"],"affiliations":[{"raw_affiliation_string":"Mercedes-Benz AG,Research & Development,Sindelfingen,Germany","institution_ids":["https://openalex.org/I1332474105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078310448","display_name":"Florian Ries","orcid":"https://orcid.org/0000-0002-6223-1774"},"institutions":[{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Ries","raw_affiliation_strings":["Mercedes-Benz AG,Research & Development,Sindelfingen,Germany"],"affiliations":[{"raw_affiliation_string":"Mercedes-Benz AG,Research & Development,Sindelfingen,Germany","institution_ids":["https://openalex.org/I1332474105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019996910","display_name":"Martin Haueis","orcid":null},"institutions":[{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Haueis","raw_affiliation_strings":["Mercedes-Benz AG,Research & Development,Sindelfingen,Germany"],"affiliations":[{"raw_affiliation_string":"Mercedes-Benz AG,Research & Development,Sindelfingen,Germany","institution_ids":["https://openalex.org/I1332474105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT),Karlsruhe,Germany","Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT),Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5019186026"],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":0.1982,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49305369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13282","display_name":"Automated Road and Building Extraction","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T13282","display_name":"Automated Road and Building Extraction","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.7665801048278809},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7108982801437378},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.5462935566902161},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4988560676574707},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.4928117096424103},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.434129536151886},{"id":"https://openalex.org/keywords/expectation\u2013maximization-algorithm","display_name":"Expectation\u2013maximization algorithm","score":0.4230336546897888},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36243534088134766},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.34700727462768555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3369895815849304},{"id":"https://openalex.org/keywords/maximum-likelihood","display_name":"Maximum likelihood","score":0.28534263372421265},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.20596495270729065},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13574030995368958},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.0881432592868805}],"concepts":[{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.7665801048278809},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7108982801437378},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.5462935566902161},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4988560676574707},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.4928117096424103},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.434129536151886},{"id":"https://openalex.org/C182081679","wikidata":"https://www.wikidata.org/wiki/Q1275153","display_name":"Expectation\u2013maximization algorithm","level":3,"score":0.4230336546897888},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36243534088134766},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.34700727462768555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3369895815849304},{"id":"https://openalex.org/C49781872","wikidata":"https://www.wikidata.org/wiki/Q1045555","display_name":"Maximum likelihood","level":2,"score":0.28534263372421265},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.20596495270729065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13574030995368958},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0881432592868805},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55152.2023.10186773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1705505001","https://openalex.org/W1993343369","https://openalex.org/W2032924574","https://openalex.org/W2033815587","https://openalex.org/W2111969977","https://openalex.org/W2118389488","https://openalex.org/W2149409607","https://openalex.org/W2156531019","https://openalex.org/W2565419653","https://openalex.org/W2604283786","https://openalex.org/W2970412534","https://openalex.org/W3003393199","https://openalex.org/W3042111546","https://openalex.org/W3106931411","https://openalex.org/W3145678509"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W2909957174","https://openalex.org/W4246278799","https://openalex.org/W136674370","https://openalex.org/W2105527480","https://openalex.org/W1976188970","https://openalex.org/W2889559465","https://openalex.org/W2990541822"],"abstract_inverted_index":{"High":[0],"Definition":[1],"(HD)":[2],"maps":[3,54],"are":[4,103,126],"necessary":[5],"for":[6,49,116,202],"many":[7],"applications":[8],"of":[9,52,96,131,195,198,205],"automated":[10],"driving":[11],"(AD),":[12],"but":[13,37],"their":[14,132],"manual":[15],"creation":[16],"and":[17,43,67,80,106,137,190],"maintenance":[18],"is":[19,40,60,98,156],"very":[20],"costly.":[21],"Vehicle":[22],"fleet":[23,57,200],"data":[24,39,150,201],"from":[25,55,151],"series":[26],"production":[27],"vehicles":[28,152],"can":[29,68],"be":[30],"used":[31],"to":[32,62,119,139,176],"automatically":[33],"generate":[34],"HD":[35,53,207],"maps,":[36],"the":[38,50,129,193,196,203],"often":[41],"incomplete":[42],"noisy.":[44],"We":[45],"propose":[46],"a":[47,75,92,113,143,160,177],"system":[48],"generation":[51,204],"vehicle":[56,199],"data,":[58],"which":[59],"tolerant":[61],"missing":[63],"or":[64],"misclassified":[65],"detections":[66,97],"handle":[69],"drives":[70,88],"with":[71,128],"multiple":[72],"routes,":[73],"generating":[74],"single":[76],"complete":[77],"map,":[78,182],"model-free":[79],"without":[81],"prior":[82],"reference":[83],"lines.":[84],"Using":[85],"randomly":[86],"selected":[87],"as":[89,183,185],"pivot":[90],"drives,":[91],"step-wise":[93],"lateral":[94,114],"sampling":[95],"performed.":[99],"These":[100],"sampled":[101],"points":[102,125],"then":[104,157],"clustered":[105,124],"aligned":[107],"using":[108,142],"Expectation":[109],"Maximization":[110],"(EM),":[111],"estimating":[112],"offset":[115],"each":[117],"drive":[118],"compensate":[120],"localization":[121],"errors.":[122],"The":[123,149,165],"replaced":[127],"maxima":[130],"probability":[133],"density":[134],"function":[135],"(PDF)":[136],"connected":[138],"form":[140],"polylines":[141],"modified":[144],"rectangular":[145],"linear":[146],"assignment":[147],"algorithm.":[148],"on":[153],"varying":[154],"routes":[155],"fused":[158],"into":[159],"hierarchical":[161],"singular":[162],"map":[163],"graph.":[164],"proposed":[166],"approach":[167],"achieves":[168],"an":[169],"average":[170],"accuracy":[171],"below":[172],"0.5":[173],"meters":[174],"compared":[175],"hand":[178],"annotated":[179],"ground":[180],"truth":[181],"well":[184],"correctly":[186],"resolving":[187],"lane":[188],"splits":[189],"merges,":[191],"proving":[192],"feasibility":[194],"use":[197],"highway":[206],"maps.":[208]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}