{"id":"https://openalex.org/W4400647358","doi":"https://doi.org/10.1109/iv55156.2024.10588480","title":"A Framework for Localization in a Ground Plan Map based on Radar Perception and Odometry Data","display_name":"A Framework for Localization in a Ground Plan Map based on Radar Perception and Odometry Data","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400647358","doi":"https://doi.org/10.1109/iv55156.2024.10588480"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588480","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5061098171","display_name":"Tim Br\u00fchl","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tim Br\u00fchl","raw_affiliation_strings":["Dr. Ing. h.c. F. Porsche AG,Dept. of Highly Automated Driving Systems,Weissach,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dr. Ing. h.c. F. Porsche AG,Dept. of Highly Automated Driving Systems,Weissach,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104557703","display_name":"Felix Blahak","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Felix Blahak","raw_affiliation_strings":["Dr. Ing. h.c. F. Porsche AG,Dept. of Highly Automated Driving Systems,Weissach,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dr. Ing. h.c. F. Porsche AG,Dept. of Highly Automated Driving Systems,Weissach,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000891414","display_name":"Robin Schwager","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Robin Schwager","raw_affiliation_strings":["Dr. Ing. h.c. F. Porsche AG,Dept. of Highly Automated Driving Systems,Weissach,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dr. Ing. h.c. F. Porsche AG,Dept. of Highly Automated Driving Systems,Weissach,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053061224","display_name":"Lukas Ewecker","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lukas Ewecker","raw_affiliation_strings":["Dr. Ing. h.c. F. Porsche AG,Dept. of Highly Automated Driving Systems,Weissach,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dr. Ing. h.c. F. Porsche AG,Dept. of Highly Automated Driving Systems,Weissach,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104242957","display_name":"Tin Stribor Sohn","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tin Stribor Sohn","raw_affiliation_strings":["Dr. Ing. h.c. F. Porsche AG,Dept. of Highly Automated Driving Systems,Weissach,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dr. Ing. h.c. F. Porsche AG,Dept. of Highly Automated Driving Systems,Weissach,Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040502908","display_name":"S\u00f6ren Hohmann","orcid":"https://orcid.org/0000-0002-4170-1431"},"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":"S\u00f6ren Hohmann","raw_affiliation_strings":["Karlsruhe Institute of Technology,Institute of Control Systems,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Institute of Control Systems,Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6379,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.81978486,"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":"892","last_page":"899"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8059999942779541,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8059999942779541,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T13067","display_name":"Geological Modeling and Analysis","score":0.7131999731063843,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7879390120506287},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6760259866714478},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6211975812911987},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.61507248878479},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5932818651199341},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5562341213226318},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5412781238555908},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.49884963035583496},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.430038183927536},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.387191504240036},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.22241616249084473},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21491917967796326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14389336109161377},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1362256407737732},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09318956732749939}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7879390120506287},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6760259866714478},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6211975812911987},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.61507248878479},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5932818651199341},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5562341213226318},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5412781238555908},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.49884963035583496},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.430038183927536},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.387191504240036},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.22241616249084473},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21491917967796326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14389336109161377},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1362256407737732},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09318956732749939},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588480","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1991198135","https://openalex.org/W2054348522","https://openalex.org/W2054969198","https://openalex.org/W2604213426","https://openalex.org/W2746349752","https://openalex.org/W2785127796","https://openalex.org/W3145270441","https://openalex.org/W3148166280","https://openalex.org/W4230818708","https://openalex.org/W4233072381","https://openalex.org/W4239014509","https://openalex.org/W4239602982","https://openalex.org/W4244796070","https://openalex.org/W4245769471","https://openalex.org/W4252937310","https://openalex.org/W4289728238","https://openalex.org/W4299572933","https://openalex.org/W4301379696","https://openalex.org/W4365799956","https://openalex.org/W4401413707","https://openalex.org/W6655979801","https://openalex.org/W6682854881","https://openalex.org/W6721687628","https://openalex.org/W6724803283","https://openalex.org/W6726310380","https://openalex.org/W6726623467","https://openalex.org/W6766288017","https://openalex.org/W6776033579","https://openalex.org/W6776825238","https://openalex.org/W6786789975","https://openalex.org/W6788343156","https://openalex.org/W6802341491","https://openalex.org/W6803522213","https://openalex.org/W6804469365","https://openalex.org/W6851347726"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1,9,51,165],"and":[2,72,136,149],"mapping":[3],"is":[4,35,94,126],"a":[5,49,61,79,90,106,121,157],"prevalent":[6],"method":[7,52],"for":[8,21,37,54],"in":[10,78,120,134,151,176],"automated":[11,26],"parking":[12,27,38,73],"applications.":[13],"However,":[14],"it":[15,154],"requires":[16],"to":[17,96,189],"access":[18],"an":[19],"area":[20],"exploring":[22],"purposes":[23],"before":[24],"the":[25,69,76,87,100,170,173,192],"function":[28],"can":[29,137],"be":[30,97,139],"completely":[31],"applied.":[32],"As":[33],"this":[34,195],"inconvenient":[36],"functions,":[39],"where":[40],"often":[41],"unknown":[42],"areas":[43],"are":[44,115,181],"entered,":[45],"our":[46,147],"approach":[47],"proposes":[48],"radar-based":[50],"primarily":[53],"applications":[55],"inside":[56],"of":[57,75,128,172,194],"buildings":[58],"which":[59,160],"have":[60],"ground":[62,66,88],"plan":[63,67],"available.":[64],"This":[65,124],"contains":[68],"walls,":[70],"pillars":[71],"lots":[74],"building":[77],"two-dimensional,":[80],"bird\u2019s":[81],"eye":[82],"view":[83],"perspective.":[84],"Based":[85],"on":[86],"plan,":[89],"synthesized":[91],"point":[92,103],"cloud":[93,104],"generated":[95,113],"matched":[98],"with":[99,117,162],"filtered":[101],"radar":[102,174],"via":[105],"Normal":[107],"Distributions":[108],"Transform":[109],"algorithm.":[110],"The":[111],"measurements":[112,119],"hereby":[114],"fused":[116],"odometry":[118],"factor":[122],"graph.":[123],"architecture":[125],"capable":[127],"processing":[129],"independent,":[130],"asynchronous":[131],"incoming":[132],"data":[133,175,188],"parallel":[135],"easily":[138],"extended,":[140],"e.g.,":[141,169],"by":[142],"camera":[143,187],"data.":[144],"We":[145],"outline":[146],"pipeline":[148],"show":[150],"experiments":[152],"that":[153],"serves":[155],"as":[156],"solid":[158],"basis":[159],"competes":[161],"other":[163],"state-of-the-art":[164],"algorithms.":[166],"Some":[167],"drawbacks,":[168],"noisiness":[171],"slow-speed":[177],"or":[178],"standstill":[179],"situations,":[180],"discussed.":[182],"Future":[183],"work":[184],"could":[185],"incorporate":[186],"further":[190],"improve":[191],"robustness":[193],"approach.":[196]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
