{"id":"https://openalex.org/W2064658112","doi":"https://doi.org/10.1109/ivs.2010.5548091","title":"Efficient occupancy grid computation on the GPU with lidar and radar for road boundary detection","display_name":"Efficient occupancy grid computation on the GPU with lidar and radar for road boundary detection","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2064658112","doi":"https://doi.org/10.1109/ivs.2010.5548091","mag":"2064658112"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2010.5548091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2010.5548091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Intelligent Vehicles Symposium","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1287438","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042896783","display_name":"Florian Homm","orcid":null},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Homm","raw_affiliation_strings":["Research and Technology, BMW Group, Munich, Germany","BMW Group, Research and Technology, D-80788 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Technology, BMW Group, Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"raw_affiliation_string":"BMW Group, Research and Technology, D-80788 Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058980981","display_name":"Nico Kaempchen","orcid":null},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nico Kaempchen","raw_affiliation_strings":["Research and Technology, BMW Group, Munich, Germany","BMW Group, Research and Technology, D-80788 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Technology, BMW Group, Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"raw_affiliation_string":"BMW Group, Research and Technology, D-80788 Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030745431","display_name":"Jeff Ota","orcid":null},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jeff Ota","raw_affiliation_strings":["Research and Technology, BMW Group, Munich, Germany","BMW Group, Research and Technology, Palo Alto, CA 94301, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Technology, BMW Group, Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"raw_affiliation_string":"BMW Group, Research and Technology, Palo Alto, CA 94301, USA","institution_ids":["https://openalex.org/I1283382300"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028614249","display_name":"Darius Burschka","orcid":"https://orcid.org/0000-0002-9866-0343"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Darius Burschka","raw_affiliation_strings":["Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Technische Universit\u00e4t M\u00fcnchen, Department of Computer Science, D-85748 Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen, Department of Computer Science, D-85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":128,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1006","last_page":"1013"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"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":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.8736320734024048},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.810809314250946},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7137179374694824},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5989354848861694},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5974330902099609},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5846436023712158},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.5572797060012817},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5176787376403809},{"id":"https://openalex.org/keywords/graphics-processing-unit","display_name":"Graphics processing unit","score":0.49275949597358704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4565749168395996},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.43508845567703247},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4112524390220642},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33596014976501465},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.29315996170043945},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20976737141609192},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11473548412322998},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10530012845993042}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.8736320734024048},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.810809314250946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7137179374694824},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5989354848861694},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5974330902099609},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5846436023712158},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.5572797060012817},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5176787376403809},{"id":"https://openalex.org/C2779851693","wikidata":"https://www.wikidata.org/wiki/Q183484","display_name":"Graphics processing unit","level":2,"score":0.49275949597358704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4565749168395996},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.43508845567703247},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4112524390220642},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33596014976501465},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.29315996170043945},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20976737141609192},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11473548412322998},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10530012845993042},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ivs.2010.5548091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2010.5548091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Intelligent Vehicles Symposium","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.669.6015","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.669.6015","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www6.in.tum.de/Main/Publications/homm2010b.pdf","raw_type":"text"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1287438","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1287438","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1287438","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1287438","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6299999952316284,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W161578567","https://openalex.org/W1528979467","https://openalex.org/W1544225901","https://openalex.org/W2024290187","https://openalex.org/W2054851794","https://openalex.org/W2074865046","https://openalex.org/W2087050866","https://openalex.org/W2116630903","https://openalex.org/W2125420246","https://openalex.org/W2127416024","https://openalex.org/W2136760085","https://openalex.org/W2143324623","https://openalex.org/W2155852554","https://openalex.org/W2167494949","https://openalex.org/W2228162491","https://openalex.org/W2336416123","https://openalex.org/W2751012431","https://openalex.org/W2752401533","https://openalex.org/W2941610626","https://openalex.org/W3146687115","https://openalex.org/W6606543600","https://openalex.org/W6632519667","https://openalex.org/W6680571935","https://openalex.org/W6689279143","https://openalex.org/W6743421510"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4308259661","https://openalex.org/W4390813131","https://openalex.org/W2349383066","https://openalex.org/W4328132048","https://openalex.org/W2594043982","https://openalex.org/W3036493597"],"abstract_inverted_index":{"Accurate":[0],"maps":[1,26,62],"of":[2,23,46,71,78,99],"the":[3,20,38,44,69,76,97],"static":[4],"environment":[5],"are":[6],"essential":[7],"for":[8,19,110],"many":[9],"advanced":[10],"driver-assistance":[11],"systems.":[12],"In":[13],"this":[14],"paper":[15],"a":[16,65,79,100,105],"new":[17],"method":[18],"fast":[21],"computation":[22,50],"occupancy":[24,48],"grid":[25,49,61],"with":[27,114],"laser":[28],"range-finders":[29],"and":[30,116],"radar":[31,82,117],"sensors":[32,118],"is":[33,55,85,89,119],"proposed.":[34],"The":[35],"approach":[36,109],"utilizes":[37],"Graphics":[39],"Processing":[40],"Unit":[41],"to":[42,57,91,95],"overcome":[43],"limitations":[45],"classical":[47],"in":[51,63,75],"automotive":[52],"environments.":[53],"It":[54],"possible":[56],"generate":[58],"highly":[59],"accurate":[60],"just":[64],"few":[66],"milliseconds":[67],"without":[68],"loss":[70],"sensor":[72,83],"precision.":[73],"Moreover,":[74],"case":[77],"lower":[80],"resolution":[81,102],"it":[84,88],"shown":[86],"that":[87],"suitable":[90],"apply":[92],"super-resolution":[93],"algorithms":[94],"achieve":[96],"accuracy":[98],"higher":[101],"laser-scanner.":[103],"Finally,":[104],"novel":[106],"histogram":[107],"based":[108],"road":[111],"boundary":[112],"detection":[113],"lidar":[115],"presented.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":10}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
