{"id":"https://openalex.org/W4413017997","doi":"https://doi.org/10.1109/iv64158.2025.11097611","title":"HiLO: High-Level Object Fusion for Autonomous Driving Using Transformers","display_name":"HiLO: High-Level Object Fusion for Autonomous Driving Using Transformers","publication_year":2025,"publication_date":"2025-06-22","ids":{"openalex":"https://openalex.org/W4413017997","doi":"https://doi.org/10.1109/iv64158.2025.11097611"},"language":"en","primary_location":{"id":"doi:10.1109/iv64158.2025.11097611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5089197868","display_name":"Timo Osterburg","orcid":"https://orcid.org/0000-0001-7637-0700"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Timo Osterburg","raw_affiliation_strings":["Institute of Control Theory and Systems Engineering, TU Dortmund University,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Theory and Systems Engineering, TU Dortmund University,Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062398345","display_name":"Franz Albers","orcid":"https://orcid.org/0000-0002-3152-5008"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Franz Albers","raw_affiliation_strings":["Institute of Control Theory and Systems Engineering, TU Dortmund University,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Theory and Systems Engineering, TU Dortmund University,Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062273423","display_name":"Christopher Diehl","orcid":"https://orcid.org/0000-0002-5326-534X"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christopher Diehl","raw_affiliation_strings":["Institute of Control Theory and Systems Engineering, TU Dortmund University,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Theory and Systems Engineering, TU Dortmund University,Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119232286","display_name":"Rajesh Pushparaj","orcid":null},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rajesh Pushparaj","raw_affiliation_strings":["TU Dortmund University,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Dortmund University,Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051394730","display_name":"Torsten Bertram","orcid":"https://orcid.org/0000-0002-6096-8190"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Torsten Bertram","raw_affiliation_strings":["Institute of Control Theory and Systems Engineering, TU Dortmund University,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Theory and Systems Engineering, TU Dortmund University,Germany","institution_ids":["https://openalex.org/I200332995"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9349,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77392412,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"209","last_page":"214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9668999910354614,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9668999910354614,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9495000243186951,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9491999745368958,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.6713169813156128},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5850138664245605},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5114173293113708},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4184550642967224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33557575941085815},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2803809940814972},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.22799012064933777},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09089168906211853}],"concepts":[{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.6713169813156128},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5850138664245605},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5114173293113708},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4184550642967224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33557575941085815},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2803809940814972},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.22799012064933777},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09089168906211853},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv64158.2025.11097611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":29,"referenced_works":["https://openalex.org/W1952618956","https://openalex.org/W2222512263","https://openalex.org/W2890326098","https://openalex.org/W2910187721","https://openalex.org/W2950628590","https://openalex.org/W2963691377","https://openalex.org/W3028852288","https://openalex.org/W3035574168","https://openalex.org/W3096609285","https://openalex.org/W3108757211","https://openalex.org/W3124372372","https://openalex.org/W3132607695","https://openalex.org/W4231465875","https://openalex.org/W4238293327","https://openalex.org/W4308080457","https://openalex.org/W4315778373","https://openalex.org/W4317796268","https://openalex.org/W4319596424","https://openalex.org/W4320736629","https://openalex.org/W4367665672","https://openalex.org/W4382934641","https://openalex.org/W4385076301","https://openalex.org/W4386270566","https://openalex.org/W4390190223","https://openalex.org/W4391768718","https://openalex.org/W4404769984","https://openalex.org/W6784094891","https://openalex.org/W6838956374","https://openalex.org/W6857614178"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"The":[0],"fusion":[1,18,23,41,74],"of":[2,11,82,108],"sensor":[3],"data":[4],"is":[5,114],"essential":[6],"for":[7],"a":[8,69,100],"robust":[9],"perception":[10],"the":[12,53,62,106,109],"environment":[13],"in":[14,37,86,95],"autonomous":[15],"driving.":[16],"Learning-based":[17],"approaches":[19],"mainly":[20],"use":[21],"feature-level":[22],"to":[24],"achieve":[25],"high":[26],"performance,":[27],"but":[28],"their":[29,35],"complexity":[30],"and":[31,67,91,122,127],"hardware":[32],"requirements":[33],"limit":[34],"applicability":[36],"near-production":[38],"vehicles.":[39],"High-level":[40],"methods":[42],"offer":[43],"robustness":[44],"with":[45],"lower":[46],"computational":[47],"requirements.":[48],"Traditional":[49],"methods,":[50],"such":[51],"as":[52],"Kalman":[54,64],"filter,":[55],"dominate":[56],"this":[57],"area.":[58],"This":[59],"paper":[60],"modifies":[61],"Adapted":[63],"Filter":[65],"(AKF)":[66],"proposes":[68],"novel":[70],"transformer-based":[71],"high-level":[72],"object":[73],"method":[75],"called":[76],"HiLO.":[77],"Experimental":[78],"results":[79],"demonstrate":[80],"improvements":[81],"25.9":[83],"percentage":[84,93],"points":[85,94],"<tex":[87],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[88],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\mathbf{F}_{1}$</tex>":[89],"score":[90],"6.1":[92],"mean":[96],"IoU.":[97],"Evaluation":[98],"on":[99],"new":[101],"large-scale":[102],"real-world":[103],"dataset":[104],"demonstrates":[105],"effectiveness":[107],"proposed":[110],"approaches.":[111],"Their":[112],"generalizability":[113],"further":[115],"validated":[116],"by":[117],"cross-domain":[118],"evaluation":[119],"between":[120],"urban":[121],"highway":[123],"scenarios.":[124],"Code,":[125],"data,":[126],"models":[128],"are":[129],"available":[130],"at":[131],"https://github.com/rst-tu-dortmund/HiLO.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}