{"id":"https://openalex.org/W2135081410","doi":"https://doi.org/10.1109/ivs.2014.6856560","title":"Video based localization for Bertha","display_name":"Video based localization for Bertha","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2135081410","doi":"https://doi.org/10.1109/ivs.2014.6856560","mag":"2135081410"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2014.6856560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2014.6856560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","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/A5020638741","display_name":"Julius Ziegler","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"Julius Ziegler","raw_affiliation_strings":["FZI Research Center for Information Technology, Dep. on Mobile Perception Systems, 76131 Karlsruhe, Germany","Dept. on Mobile Perception Syst., FZI Res. Center for Inf. Technol., Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology, Dep. on Mobile Perception Systems, 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. on Mobile Perception Syst., FZI Res. Center for Inf. Technol., Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037121223","display_name":"Henning Lategahn","orcid":null},"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":"Henning Lategahn","raw_affiliation_strings":["Karlsruher Institut fur Technologie, Karlsruhe, Baden-W\u00c3\u00bcrttemberg, DE","Dept. of Meas. & Control Syst. (MRT), Karlsruhe Inst. of Technol. (KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruher Institut fur Technologie, Karlsruhe, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]},{"raw_affiliation_string":"Dept. of Meas. & Control Syst. (MRT), Karlsruhe Inst. of Technol. (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104946889","display_name":"Markus Schreiber","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Markus Schreiber","raw_affiliation_strings":["FZI Research Center for Information Technology, Dep. on Mobile Perception Systems, 76131 Karlsruhe, Germany","Dept. on Mobile Perception Syst., FZI Res. Center for Inf. Technol., Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology, Dep. on Mobile Perception Systems, 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. on Mobile Perception Syst., FZI Res. Center for Inf. Technol., Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013875392","display_name":"Christoph G. Keller","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156906","display_name":"Daimler (United States)","ror":"https://ror.org/05angxc35","country_code":"US","type":"company","lineage":["https://openalex.org/I4210156906","https://openalex.org/I891521709"]},{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Christoph G. Keller","raw_affiliation_strings":["Daimler AG, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE","Res. & Technol, Daimler AG, Sindelfingen, Germany"],"affiliations":[{"raw_affiliation_string":"Daimler AG, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":["https://openalex.org/I4210156906"]},{"raw_affiliation_string":"Res. & Technol, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011195108","display_name":"Carsten Kn\u00f6ppel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156906","display_name":"Daimler (United States)","ror":"https://ror.org/05angxc35","country_code":"US","type":"company","lineage":["https://openalex.org/I4210156906","https://openalex.org/I891521709"]},{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Carsten Knoppel","raw_affiliation_strings":["Daimler AG, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE","Res. & Technol, Daimler AG, Sindelfingen, Germany"],"affiliations":[{"raw_affiliation_string":"Daimler AG, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":["https://openalex.org/I4210156906"]},{"raw_affiliation_string":"Res. & Technol, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049480184","display_name":"Jochen Hipp","orcid":"https://orcid.org/0000-0002-9037-9899"},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]},{"id":"https://openalex.org/I4210156906","display_name":"Daimler (United States)","ror":"https://ror.org/05angxc35","country_code":"US","type":"company","lineage":["https://openalex.org/I4210156906","https://openalex.org/I891521709"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Jochen Hipp","raw_affiliation_strings":["Daimler AG, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE","Res. & Technol, Daimler AG, Sindelfingen, Germany"],"affiliations":[{"raw_affiliation_string":"Daimler AG, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":["https://openalex.org/I4210156906"]},{"raw_affiliation_string":"Res. & Technol, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019996910","display_name":"Martin Haueis","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]},{"id":"https://openalex.org/I4210156906","display_name":"Daimler (United States)","ror":"https://ror.org/05angxc35","country_code":"US","type":"company","lineage":["https://openalex.org/I4210156906","https://openalex.org/I891521709"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Martin Haueis","raw_affiliation_strings":["Daimler AG, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE","Res. & Technol, Daimler AG, Sindelfingen, Germany"],"affiliations":[{"raw_affiliation_string":"Daimler AG, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":["https://openalex.org/I4210156906"]},{"raw_affiliation_string":"Res. & Technol, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"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":"Christoph Stiller","raw_affiliation_strings":["Karlsruher Institut fur Technologie, Karlsruhe, Baden-W\u00c3\u00bcrttemberg, DE","Dept. of Meas. & Control Syst. (MRT), Karlsruhe Inst. of Technol. (KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruher Institut fur Technologie, Karlsruhe, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]},{"raw_affiliation_string":"Dept. of Meas. & Control Syst. (MRT), Karlsruhe Inst. of Technol. (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5020638741"],"corresponding_institution_ids":["https://openalex.org/I143379178","https://openalex.org/I29955533"],"apc_list":null,"apc_paid":null,"fwci":37.2507,"has_fulltext":false,"cited_by_count":105,"citation_normalized_percentile":{"value":0.99857996,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1231","last_page":"1238"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9991999864578247,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7013788223266602},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6616985201835632},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6236124038696289},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.582722008228302},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5805362462997437},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5684399008750916},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.4979441165924072},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4555472433567047},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.43352192640304565},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19828680157661438},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1634017527103424},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06573310494422913}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7013788223266602},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6616985201835632},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6236124038696289},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.582722008228302},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5805362462997437},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5684399008750916},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.4979441165924072},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4555472433567047},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.43352192640304565},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19828680157661438},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1634017527103424},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06573310494422913},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2014.6856560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2014.6856560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8399999737739563,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1656165940","https://openalex.org/W1738124305","https://openalex.org/W1924453835","https://openalex.org/W1968771169","https://openalex.org/W1970329928","https://openalex.org/W1981962374","https://openalex.org/W1990398405","https://openalex.org/W2003844821","https://openalex.org/W2008791833","https://openalex.org/W2021063678","https://openalex.org/W2029841124","https://openalex.org/W2060061906","https://openalex.org/W2085040442","https://openalex.org/W2085261163","https://openalex.org/W2100237490","https://openalex.org/W2125706250","https://openalex.org/W2127578024","https://openalex.org/W2136651702","https://openalex.org/W2137813581","https://openalex.org/W2152671441","https://openalex.org/W2153054365","https://openalex.org/W2163704618","https://openalex.org/W2168676389","https://openalex.org/W2295130602","https://openalex.org/W2481081394","https://openalex.org/W2489602016","https://openalex.org/W3021282624","https://openalex.org/W6652398615"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703"],"abstract_inverted_index":{"In":[0],"August":[1],"2013,":[2],"the":[3,12,70,88,97],"modified":[4],"Mercedes-Benz":[5],"SClass":[6],"S500":[7],"Intelligent":[8],"Drive":[9],"(\u201cBertha\u201d)":[10],"completed":[11],"historic":[13],"Bertha-Benz-Memorial-Route":[14],"fully":[15],"autonomously.":[16],"The":[17,28,55],"self-driving":[18],"103":[19],"km":[20],"journey":[21],"passed":[22],"through":[23],"urban":[24],"and":[25,93],"rural":[26],"areas.":[27],"system":[29,71],"used":[30],"detailed":[31],"geometric":[32],"maps":[33],"to":[34,61],"supplement":[35],"its":[36],"online":[37],"perception":[38],"systems.":[39],"A":[40,105],"map":[41,50],"based":[42,76,86],"approach":[43],"is":[44,53,60,85],"only":[45],"feasible":[46],"if":[47],"a":[48,63],"precise,":[49],"relative":[51],"localization":[52,77],"provided.":[54],"purpose":[56],"of":[57,69,83,90],"this":[58,66],"paper":[59],"give":[62],"survey":[64],"on":[65,87],"corner":[67],"stone":[68],"architecture.":[72],"Two":[73],"supplementary":[74],"vision":[75],"methods":[78],"have":[79],"been":[80],"developed.":[81],"One":[82],"them":[84],"detection":[89],"lane":[91],"markings":[92],"similar":[94],"road":[95],"elements,":[96],"other":[98],"exploits":[99],"descriptors":[100],"for":[101],"point":[102],"shaped":[103],"features.":[104],"final":[106],"filter":[107],"step":[108],"combines":[109],"both":[110],"estimates":[111],"while":[112],"handling":[113],"out-of-sequence":[114],"measurements":[115],"correctly.":[116]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":16},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":14},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}