{"id":"https://openalex.org/W2607060570","doi":"https://doi.org/10.1109/ivs.2017.7995699","title":"Velocity and shape from tightly-coupled LiDAR and camera","display_name":"Velocity and shape from tightly-coupled LiDAR and camera","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2607060570","doi":"https://doi.org/10.1109/ivs.2017.7995699","mag":"2607060570"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2017.7995699","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://escholarship.org/content/qt0vs6q8m4/qt0vs6q8m4.pdf?t=onzi9h","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074937826","display_name":"Mohammad Hossein Daraei","orcid":null},"institutions":[{"id":"https://openalex.org/I185103710","display_name":"University of California, Santa Cruz","ror":"https://ror.org/03s65by71","country_code":"US","type":"education","lineage":["https://openalex.org/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Hossein Daraei","raw_affiliation_strings":["University of California Santa Cruz, Santa Cruz, CA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Santa Cruz, Santa Cruz, CA, US","institution_ids":["https://openalex.org/I185103710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113493557","display_name":"Anh Vu","orcid":null},"institutions":[{"id":"https://openalex.org/I8659980","display_name":"Volkswagen Group (United States)","ror":"https://ror.org/034e5n787","country_code":"US","type":"company","lineage":["https://openalex.org/I1319473763","https://openalex.org/I8659980"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anh Vu","raw_affiliation_strings":["Volkswagen Group of America, Electronics Research Laboratory, Belmont, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Volkswagen Group of America, Electronics Research Laboratory, Belmont, CA, USA","institution_ids":["https://openalex.org/I8659980"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075120422","display_name":"Roberto Manduchi","orcid":"https://orcid.org/0000-0003-2640-302X"},"institutions":[{"id":"https://openalex.org/I185103710","display_name":"University of California, Santa Cruz","ror":"https://ror.org/03s65by71","country_code":"US","type":"education","lineage":["https://openalex.org/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Manduchi","raw_affiliation_strings":["Baskin School of Engineering, University of California, Santa Cruz, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baskin School of Engineering, University of California, Santa Cruz, CA, USA","institution_ids":["https://openalex.org/I185103710"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7955,"has_fulltext":true,"cited_by_count":23,"citation_normalized_percentile":{"value":0.84855024,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"60","last_page":"67"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9948999881744385,"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-vision","display_name":"Computer vision","score":0.7119361162185669},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7021384835243225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6676385998725891},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5752503871917725},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5604687929153442},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.5460181832313538},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.5030795931816101},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4922589361667633},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.46528807282447815},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.44981294870376587},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.44106659293174744},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4368106722831726},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4189283549785614},{"id":"https://openalex.org/keywords/bittorrent-tracker","display_name":"BitTorrent tracker","score":0.4124753773212433},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.23272168636322021},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2284611165523529},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.19509148597717285},{"id":"https://openalex.org/keywords/eye-tracking","display_name":"Eye tracking","score":0.14543470740318298},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.13808223605155945},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13164684176445007}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7119361162185669},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7021384835243225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6676385998725891},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5752503871917725},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5604687929153442},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.5460181832313538},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.5030795931816101},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4922589361667633},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.46528807282447815},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.44981294870376587},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.44106659293174744},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4368106722831726},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4189283549785614},{"id":"https://openalex.org/C57501372","wikidata":"https://www.wikidata.org/wiki/Q2021268","display_name":"BitTorrent tracker","level":3,"score":0.4124753773212433},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.23272168636322021},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2284611165523529},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.19509148597717285},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.14543470740318298},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.13808223605155945},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13164684176445007},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ivs.2017.7995699","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:escholarship.org/ark:/13030/qt0vs6q8m4","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/0vs6q8m4","pdf_url":"https://escholarship.org/content/qt0vs6q8m4/qt0vs6q8m4.pdf?t=onzi9h","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:escholarship.org/ark:/13030/qt0vs6q8m4","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/0vs6q8m4","pdf_url":"https://escholarship.org/content/qt0vs6q8m4/qt0vs6q8m4.pdf?t=onzi9h","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2607060570.pdf","grobid_xml":"https://content.openalex.org/works/W2607060570.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W55377555","https://openalex.org/W181676623","https://openalex.org/W1512698229","https://openalex.org/W1589504938","https://openalex.org/W1601541057","https://openalex.org/W1921093919","https://openalex.org/W1932072062","https://openalex.org/W1996688648","https://openalex.org/W2006942634","https://openalex.org/W2012860744","https://openalex.org/W2020642148","https://openalex.org/W2021930164","https://openalex.org/W2053101740","https://openalex.org/W2053825465","https://openalex.org/W2062564587","https://openalex.org/W2090183260","https://openalex.org/W2094274703","https://openalex.org/W2098500213","https://openalex.org/W2100242026","https://openalex.org/W2103031616","https://openalex.org/W2115579991","https://openalex.org/W2118202916","https://openalex.org/W2121434319","https://openalex.org/W2123277060","https://openalex.org/W2126184431","https://openalex.org/W2133009434","https://openalex.org/W2136823933","https://openalex.org/W2137097255","https://openalex.org/W2141184637","https://openalex.org/W2168538937","https://openalex.org/W2216980943","https://openalex.org/W2295581249","https://openalex.org/W2296035016","https://openalex.org/W2566170915","https://openalex.org/W4238202755","https://openalex.org/W6635014653","https://openalex.org/W6655563093","https://openalex.org/W6688741334","https://openalex.org/W6731467276"],"related_works":["https://openalex.org/W3171899115","https://openalex.org/W3126266918","https://openalex.org/W2040327475","https://openalex.org/W2813834476","https://openalex.org/W4239102697","https://openalex.org/W3016861202","https://openalex.org/W4391129294","https://openalex.org/W2784011081","https://openalex.org/W123197719","https://openalex.org/W2807666361"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,46,59],"multi-object":[6],"tracking":[7],"and":[8,16,28,55,87,95,102],"reconstruction":[9],"approach":[10],"through":[11],"measurement-level":[12],"fusion":[13],"of":[14,22,77],"LiDAR":[15],"camera.":[17],"The":[18],"proposed":[19],"method,":[20],"regardless":[21],"object":[23],"class,":[24],"estimates":[25],"3D":[26],"motion":[27],"structure":[29],"for":[30],"all":[31],"rigid":[32],"obstacles.":[33],"Using":[34],"an":[35,97],"intermediate":[36],"surface":[37,53],"representation,":[38],"measurements":[39],"from":[40],"both":[41],"sensors":[42],"are":[43],"processed":[44],"within":[45],"joint":[47],"framework.":[48],"We":[49,73],"combine":[50],"optical":[51],"flow,":[52],"reconstruction,":[54],"point-to-surface":[56],"terms":[57],"in":[58,99],"tightly-coupled":[60],"non-linear":[61],"energy":[62],"function,":[63],"which":[64],"is":[65],"minimized":[66],"using":[67],"Iterative":[68],"Reweighted":[69],"Least":[70],"Squares":[71],"(IRLS).":[72],"demonstrate":[74],"the":[75],"performance":[76],"our":[78,88],"model":[79],"on":[80],"different":[81],"datasets":[82],"(KITTI":[83],"with":[84,91],"Velodyne":[85],"HDL-64E":[86],"collected":[89],"data":[90],"4-layer":[92],"ScaLa":[93],"Ibeo),":[94],"show":[96],"improvement":[98],"velocity":[100],"error":[101],"crispness":[103],"over":[104],"state-of-the-art":[105],"trackers.":[106]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2025-10-10T00:00:00"}