{"id":"https://openalex.org/W4400647227","doi":"https://doi.org/10.1109/iv55156.2024.10588524","title":"Guess the Drift with LOP-UKF: LiDAR Odometry and Pacejka Model for Real-Time Racecar Sideslip Estimation","display_name":"Guess the Drift with LOP-UKF: LiDAR Odometry and Pacejka Model for Real-Time Racecar Sideslip Estimation","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400647227","doi":"https://doi.org/10.1109/iv55156.2024.10588524"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588524","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":"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/A5016192597","display_name":"A. Toschi","orcid":"https://orcid.org/0000-0001-5669-3377"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alessandro Toschi","raw_affiliation_strings":["University of Modena and Reggio Emilia,Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043606698","display_name":"Nicola Musiu","orcid":null},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Musiu","raw_affiliation_strings":["University of Modena and Reggio Emilia,Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110716011","display_name":"Francesco Gatti","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Francesco Gatti","raw_affiliation_strings":["Hipert srl,Italy"],"affiliations":[{"raw_affiliation_string":"Hipert srl,Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080008583","display_name":"Ayoub Raji","orcid":"https://orcid.org/0000-0003-4188-8854"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ayoub Raji","raw_affiliation_strings":["University of Modena and Reggio Emilia,Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097450400","display_name":"Francesco Amerotti","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Francesco Amerotti","raw_affiliation_strings":["Hipert srl,Italy"],"affiliations":[{"raw_affiliation_string":"Hipert srl,Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064978609","display_name":"Micaela Verucchi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Micaela Verucchi","raw_affiliation_strings":["Hipert srl,Italy"],"affiliations":[{"raw_affiliation_string":"Hipert srl,Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106522626","display_name":"Marko Bertogna","orcid":"https://orcid.org/0000-0003-2115-4853"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marko Bertogna","raw_affiliation_strings":["University of Modena and Reggio Emilia,Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5016192597"],"corresponding_institution_ids":["https://openalex.org/I122346577"],"apc_list":null,"apc_paid":null,"fwci":0.6502,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66550759,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"885","last_page":"891"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9850000143051147,"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":0.9850000143051147,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9789999723434448,"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/T12095","display_name":"Vehicle emissions and performance","score":0.9713000059127808,"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/odometry","display_name":"Odometry","score":0.6222270727157593},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5359531044960022},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4870488941669464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4606836140155792},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.401295006275177},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.15670889616012573},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0894227921962738},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07773301005363464}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6222270727157593},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5359531044960022},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4870488941669464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4606836140155792},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.401295006275177},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.15670889616012573},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0894227921962738},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07773301005363464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588524","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","id":"https://metadata.un.org/sdg/13","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1598765316","https://openalex.org/W1749494163","https://openalex.org/W2051221056","https://openalex.org/W2139137304","https://openalex.org/W2296228853","https://openalex.org/W2461937780","https://openalex.org/W2481081394","https://openalex.org/W2737927938","https://openalex.org/W2794309357","https://openalex.org/W2899013282","https://openalex.org/W2909908358","https://openalex.org/W2968679427","https://openalex.org/W3049161774","https://openalex.org/W3124420883","https://openalex.org/W3133648073","https://openalex.org/W3158587912","https://openalex.org/W3198286990","https://openalex.org/W4200598910","https://openalex.org/W4256726007","https://openalex.org/W4328125131","https://openalex.org/W4386087785","https://openalex.org/W4387078859","https://openalex.org/W4390747375","https://openalex.org/W4390814542","https://openalex.org/W4391231575","https://openalex.org/W4392408449"],"related_works":["https://openalex.org/W4313854656","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747"],"abstract_inverted_index":{"The":[0],"sideslip":[1],"angle,":[2],"crucial":[3],"for":[4,45],"vehicle":[5,47],"safety":[6],"and":[7,14,102],"stability,":[8],"is":[9],"determined":[10],"using":[11,95],"both":[12],"longitudinal":[13],"lateral":[15,20,48],"velocities.":[16],"However,":[17],"measuring":[18],"the":[19,55,96,106],"component":[21],"often":[22],"necessitates":[23],"costly":[24],"sensors,":[25],"leading":[26],"to":[27,77],"its":[28],"common":[29],"estimation,":[30],"a":[31,42,62,74,83],"topic":[32],"thoroughly":[33],"explored":[34],"in":[35,61,82,87],"existing":[36],"literature.":[37],"This":[38,71],"paper":[39],"introduces":[40],"LOP-UKF,":[41],"novel":[43],"method":[44],"estimating":[46],"velocity":[49],"by":[50],"integrating":[51],"Lidar":[52],"Odometry":[53],"with":[54],"Pacejka":[56],"tire":[57],"model":[58],"predictions,":[59],"resulting":[60,81],"robust":[63],"estimation":[64],"via":[65],"an":[66],"Unscendent":[67],"Kalman":[68],"Filter":[69],"(UKF).":[70],"combination":[72],"represents":[73],"distinct":[75],"alternative":[76],"more":[78],"traditional":[79],"methodologies,":[80],"reliable":[84],"solution":[85],"also":[86],"edge":[88],"cases.":[89],"We":[90],"present":[91],"experimental":[92],"results":[93],"obtained":[94],"Dallara":[97],"AV-21":[98],"across":[99],"diverse":[100],"circuits":[101],"track":[103],"conditions,":[104],"demonstrating":[105],"effectiveness":[107],"of":[108],"our":[109],"method.":[110]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2024-07-16T00:00:00"}
