{"id":"https://openalex.org/W2622778045","doi":"https://doi.org/10.1109/ivs.2017.7995904","title":"A flexible modeling approach for robust multi-lane road estimation","display_name":"A flexible modeling approach for robust multi-lane road estimation","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2622778045","doi":"https://doi.org/10.1109/ivs.2017.7995904","mag":"2622778045"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2017.7995904","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995904","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1706.01631","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103377399","display_name":"Alexey Abramov","orcid":null},"institutions":[{"id":"https://openalex.org/I147869694","display_name":"Continental (Germany)","ror":"https://ror.org/0359s0245","country_code":"DE","type":"company","lineage":["https://openalex.org/I147869694"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexey Abramov","raw_affiliation_strings":["Chassis & Safety Division, Advanced Engineering, Frankfurt am Main, Germany","Continental Teves AG, Chassis & Safety Division, Advanced Engineering, Guerickestrasse 7, DE-60488, Frankfurt am Main, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chassis & Safety Division, Advanced Engineering, Frankfurt am Main, Germany","institution_ids":[]},{"raw_affiliation_string":"Continental Teves AG, Chassis & Safety Division, Advanced Engineering, Guerickestrasse 7, DE-60488, Frankfurt am Main, Germany","institution_ids":["https://openalex.org/I147869694"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058425404","display_name":"Christopher Bayer","orcid":null},"institutions":[{"id":"https://openalex.org/I147869694","display_name":"Continental (Germany)","ror":"https://ror.org/0359s0245","country_code":"DE","type":"company","lineage":["https://openalex.org/I147869694"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christopher Bayer","raw_affiliation_strings":["Chassis & Safety Division, Advanced Engineering, Frankfurt am Main, Germany","Continental Teves AG, Chassis & Safety Division, Advanced Engineering, Guerickestrasse 7, DE-60488, Frankfurt am Main, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chassis & Safety Division, Advanced Engineering, Frankfurt am Main, Germany","institution_ids":[]},{"raw_affiliation_string":"Continental Teves AG, Chassis & Safety Division, Advanced Engineering, Guerickestrasse 7, DE-60488, Frankfurt am Main, Germany","institution_ids":["https://openalex.org/I147869694"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010294981","display_name":"Claudio Heller","orcid":null},"institutions":[{"id":"https://openalex.org/I147869694","display_name":"Continental (Germany)","ror":"https://ror.org/0359s0245","country_code":"DE","type":"company","lineage":["https://openalex.org/I147869694"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Claudio Heller","raw_affiliation_strings":["Chassis & Safety Division, Advanced Engineering, Frankfurt am Main, Germany","Continental Teves AG, Chassis & Safety Division, Advanced Engineering, Guerickestrasse 7, DE-60488, Frankfurt am Main, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chassis & Safety Division, Advanced Engineering, Frankfurt am Main, Germany","institution_ids":[]},{"raw_affiliation_string":"Continental Teves AG, Chassis & Safety Division, Advanced Engineering, Guerickestrasse 7, DE-60488, Frankfurt am Main, Germany","institution_ids":["https://openalex.org/I147869694"]}]},{"author_position":"last","author":{"id":null,"display_name":"Claudia Loy","orcid":null},"institutions":[{"id":"https://openalex.org/I147869694","display_name":"Continental (Germany)","ror":"https://ror.org/0359s0245","country_code":"DE","type":"company","lineage":["https://openalex.org/I147869694"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Claudia Loy","raw_affiliation_strings":["Chassis & Safety Division, Advanced Engineering, Frankfurt am Main, Germany","Continental Teves AG, Chassis & Safety Division, Advanced Engineering, Guerickestrasse 7, DE-60488, Frankfurt am Main, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chassis & Safety Division, Advanced Engineering, Frankfurt am Main, Germany","institution_ids":[]},{"raw_affiliation_string":"Continental Teves AG, Chassis & Safety Division, Advanced Engineering, Guerickestrasse 7, DE-60488, Frankfurt am Main, Germany","institution_ids":["https://openalex.org/I147869694"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1786,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55527064,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"1386","last_page":"1392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9887999892234802,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9869999885559082,"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/robustness","display_name":"Robustness (evolution)","score":0.7620611190795898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7062909007072449},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6046355962753296},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5159772038459778},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.47474128007888794},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.44428738951683044},{"id":"https://openalex.org/keywords/iterative-and-incremental-development","display_name":"Iterative and incremental development","score":0.43173322081565857},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.411375492811203},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3543170094490051},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.338495135307312},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23134145140647888},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.22503319382667542},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10880705714225769}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7620611190795898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7062909007072449},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6046355962753296},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5159772038459778},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.47474128007888794},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.44428738951683044},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.43173322081565857},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.411375492811203},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3543170094490051},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.338495135307312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23134145140647888},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.22503319382667542},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10880705714225769},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ivs.2017.7995904","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995904","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:arXiv.org:1706.01631","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1706.01631","pdf_url":"https://arxiv.org/pdf/1706.01631","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.1706.01631","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1706.01631","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:2622778045","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1706.01631","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1706.01631","pdf_url":"https://arxiv.org/pdf/1706.01631","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2622778045.pdf","grobid_xml":"https://content.openalex.org/works/W2622778045.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W592715486","https://openalex.org/W1540596182","https://openalex.org/W1968256263","https://openalex.org/W1989962009","https://openalex.org/W2038091120","https://openalex.org/W2043642041","https://openalex.org/W2047030012","https://openalex.org/W2049633694","https://openalex.org/W2080823437","https://openalex.org/W2118545852","https://openalex.org/W2131076267","https://openalex.org/W2146575011","https://openalex.org/W2157076480","https://openalex.org/W2797148637","https://openalex.org/W2963522331","https://openalex.org/W3102168793","https://openalex.org/W4229885360"],"related_works":["https://openalex.org/W3089418799","https://openalex.org/W2849965115","https://openalex.org/W3170939568","https://openalex.org/W2158681520","https://openalex.org/W2038091120","https://openalex.org/W2463931030","https://openalex.org/W2161977181","https://openalex.org/W3119586106","https://openalex.org/W2570984654","https://openalex.org/W2787969830","https://openalex.org/W2073197808","https://openalex.org/W1932540849","https://openalex.org/W2728018190","https://openalex.org/W2056764273","https://openalex.org/W2156297904","https://openalex.org/W2000308642","https://openalex.org/W2116790093","https://openalex.org/W3209005535","https://openalex.org/W2159391771","https://openalex.org/W2014830077"],"abstract_inverted_index":{"A":[0],"robust":[1],"estimation":[2,132],"of":[3,13,19,26,81,95,118,129,145,167,175,183,198],"road":[4],"course":[5],"and":[6,24,54,78,116,150,165,195],"traffic":[7,49,119],"lanes":[8,38,146,169],"is":[9,45,59,136],"an":[10,67],"essential":[11],"part":[12,182],"environment":[14],"perception":[15],"for":[16,35,66,91,141,193],"next":[17],"generations":[18],"Advanced":[20],"Driver":[21],"Assistance":[22],"Systems":[23],"development":[25,155],"self-driving":[27],"vehicles.":[28,200],"In":[29,97,157],"this":[30],"paper,":[31],"a":[32,40,73,154,158,173,181],"flexible":[33],"method":[34,70,189],"modeling":[36],"multiple":[37],"in":[39,42,123,147],"vehicle":[41],"real":[43],"time":[44],"presented.":[46],"Information":[47],"about":[48],"lanes,":[50,120],"derived":[51],"by":[52],"cameras":[53],"other":[55],"environmental":[56,185],"sensors,":[57],"that":[58],"represented":[60],"as":[61,64,108,110],"features,":[62],"serves":[63],"input":[65],"iterative":[68],"expectation-maximization":[69],"to":[71,85,99,113,160,172],"estimate":[72],"lane":[74,131],"model.":[75],"The":[76],"generic":[77],"modular":[79],"concept":[80],"the":[82,88,92,100,104,124,130,142,168,184,187],"approach":[83],"allows":[84],"freely":[86],"choose":[87],"mathematical":[89],"functions":[90],"geometrical":[93],"description":[94],"lanes.":[96],"addition":[98],"current":[101],"measurement":[102],"data,":[103,163],"previously":[105],"estimated":[106,170],"result":[107],"well":[109],"additional":[111],"constraints":[112],"reflect":[114],"parallelism":[115],"continuity":[117],"are":[121,178],"considered":[122],"optimization":[125],"process.":[126],"As":[127,180],"evaluation":[128],"method,":[133],"its":[134],"performance":[135],"showcased":[137],"using":[138,153],"cubic":[139],"splines":[140],"geometric":[143],"representation":[144],"simulated":[148],"scenarios":[149],"measurements":[151],"recorded":[152],"vehicle.":[156],"comparison":[159],"ground":[161],"truth":[162],"robustness":[164],"precision":[166],"up":[171],"distance":[174],"120":[176],"m":[177],"demonstrated.":[179],"modeling,":[186],"presented":[188],"can":[190],"be":[191],"utilized":[192],"longitudinal":[194],"lateral":[196],"control":[197],"autonomous":[199]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}