{"id":"https://openalex.org/W2090354719","doi":"https://doi.org/10.1109/ivs.2012.6232200","title":"Roll angle estimation for motorcycles: Comparing video and inertial sensor approaches","display_name":"Roll angle estimation for motorcycles: Comparing video and inertial sensor approaches","publication_year":2012,"publication_date":"2012-06-01","ids":{"openalex":"https://openalex.org/W2090354719","doi":"https://doi.org/10.1109/ivs.2012.6232200","mag":"2090354719"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2012.6232200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2012.6232200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE Intelligent Vehicles Symposium","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/A5025991216","display_name":"Marc Schlipsing","orcid":null},"institutions":[{"id":"https://openalex.org/I904495901","display_name":"Ruhr University Bochum","ror":"https://ror.org/04tsk2644","country_code":"DE","type":"education","lineage":["https://openalex.org/I904495901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Schlipsing","raw_affiliation_strings":["Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum, Bochum, Germany","Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum 44780 Bochum (Germany)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum, Bochum, Germany","institution_ids":["https://openalex.org/I904495901"]},{"raw_affiliation_string":"Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum 44780 Bochum (Germany)","institution_ids":["https://openalex.org/I904495901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017703542","display_name":"Jan Salmen","orcid":null},"institutions":[{"id":"https://openalex.org/I904495901","display_name":"Ruhr University Bochum","ror":"https://ror.org/04tsk2644","country_code":"DE","type":"education","lineage":["https://openalex.org/I904495901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Salmen","raw_affiliation_strings":["Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum, Bochum, Germany","Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum 44780 Bochum (Germany)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum, Bochum, Germany","institution_ids":["https://openalex.org/I904495901"]},{"raw_affiliation_string":"Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum 44780 Bochum (Germany)","institution_ids":["https://openalex.org/I904495901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041017607","display_name":"Benedikt Lattke","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benedikt Lattke","raw_affiliation_strings":["Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, 64287 Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, 64287 Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103525625","display_name":"Kai Gerd Schr\u00f6ter","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai Gerd Schroter","raw_affiliation_strings":["Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, 64287 Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, 64287 Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065436966","display_name":"Hermann Winner","orcid":"https://orcid.org/0000-0002-9824-3195"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hermann Winner","raw_affiliation_strings":["Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, 64287 Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Fachgebiet Fahrzeugtechnik, Technische Universit\u00e4t Darmstadt, 64287 Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8329,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.76273405,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"500","last_page":"505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9947999715805054,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9947999715805054,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9934999942779541,"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":0.9922999739646912,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8429433107376099},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7076316475868225},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6441357135772705},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6344475746154785},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6105006337165833},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5683519244194031},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5307942032814026},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4292973577976227},{"id":"https://openalex.org/keywords/porting","display_name":"Porting","score":0.42827099561691284},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19312864542007446},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.10247790813446045},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08290335536003113}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8429433107376099},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7076316475868225},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6441357135772705},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6344475746154785},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6105006337165833},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5683519244194031},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5307942032814026},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4292973577976227},{"id":"https://openalex.org/C106251023","wikidata":"https://www.wikidata.org/wiki/Q851989","display_name":"Porting","level":3,"score":0.42827099561691284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19312864542007446},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.10247790813446045},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08290335536003113},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ivs.2012.6232200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2012.6232200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE Intelligent Vehicles Symposium","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.703.9867","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.703.9867","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ini.rub.de/uploads/document/attachment/292/schlipsingetal_rollangleestimation_iv2012.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1763200058","https://openalex.org/W2037724611","https://openalex.org/W2067495556","https://openalex.org/W2111351689","https://openalex.org/W2112036188","https://openalex.org/W2113018220","https://openalex.org/W2117441099","https://openalex.org/W2162550261","https://openalex.org/W2165813638","https://openalex.org/W2527031268","https://openalex.org/W4231918628","https://openalex.org/W6660036917","https://openalex.org/W6677057774","https://openalex.org/W6727780440"],"related_works":["https://openalex.org/W2356602486","https://openalex.org/W2103761320","https://openalex.org/W2358167375","https://openalex.org/W2545638156","https://openalex.org/W116564642","https://openalex.org/W2785359964","https://openalex.org/W1983380679","https://openalex.org/W1981649169","https://openalex.org/W2357354286","https://openalex.org/W2388705266"],"abstract_inverted_index":{"Advanced":[0],"Rider":[1],"Assistance":[2],"Systems":[3],"(ARAS)":[4],"for":[5,64,171],"powered":[6],"two-wheelers":[7],"improve":[8],"driving":[9],"behaviour":[10],"and":[11,128,155],"safety.":[12],"Further":[13],"developments":[14],"of":[15,67,70,93,142,166,198,207],"intelligent":[16],"vehicles":[17],"will":[18,120],"also":[19],"include":[20],"video-based":[21],"systems,":[22],"which":[23],"are":[24],"successfully":[25],"deployed":[26],"in":[27,52],"cars.":[28],"Porting":[29],"such":[30],"modules":[31],"to":[32,38,213],"motorcycles,":[33],"the":[34,53,65,98,134,143,172,179,208],"camera":[35,154],"pose":[36],"has":[37],"be":[39,121],"taken":[40],"into":[41],"account,":[42],"as":[43,83,85],"e.":[44],"g.":[45],"large":[46],"roll":[47,57,100],"angles":[48],"produce":[49],"significant":[50],"variations":[51],"recorded":[54],"images.":[55],"Therefore,":[56],"angle":[58],"estimation":[59,189],"is":[60,150,211],"an":[61,114,129,204],"important":[62],"task":[63],"development":[66],"various":[68],"kinds":[69],"ARAS.":[71],"This":[72],"study":[73],"introduces":[74],"alternative":[75],"approaches":[76,146],"based":[77],"on":[78,107,116,182,191],"inertial":[79],"measurement":[80],"units":[81],"(IMU)":[82],"well":[84],"video":[86,118],"only.":[87],"The":[88,161,185],"latter":[89],"learns":[90],"orientation":[91],"distributions":[92],"image":[94],"gradients":[95],"that":[96],"code":[97],"current":[99],"angle.":[101],"Until":[102],"now":[103],"only":[104],"preliminary":[105],"results":[106,162],"synthetic":[108],"data":[109,119],"have":[110],"been":[111],"published.":[112],"Here,":[113],"evaluation":[115],"real":[117],"presented":[122],"along":[123],"with":[124,152],"three":[125],"valuable":[126],"improvements":[127],"extensive":[130],"parameter":[131],"optimisation":[132],"using":[133],"Covariance":[135],"Matrix":[136],"Adaptation":[137],"Evolution":[138],"Strategy.":[139],"For":[140],"comparison":[141],"very":[144],"dissimilar":[145],"a":[147,156,194],"test":[148],"vehicle":[149],"equipped":[151],"IMU,":[153],"highly":[157],"accurate":[158],"reference":[159],"sensor.":[160],"state":[163],"high":[164],"performance":[165,203],"about":[167],"2":[168],"degrees":[169],"error":[170],"improved":[173],"vision":[174],"method":[175],"and,":[176],"therefore":[177],"proofs":[178],"proposed":[180,209],"concept":[181],"real-world":[183],"data.":[184],"IMU-based":[186],"Kalman":[187],"filter":[188],"performed":[190],"par.":[192],"As":[193],"naive":[195],"result":[196],"averaging":[197],"both":[199],"estimates":[200],"already":[201],"increased":[202],"elaborate":[205],"fusion":[206],"methods":[210],"expected":[212],"yield":[214],"further":[215],"improvements.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":7},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}