{"id":"https://openalex.org/W2914811038","doi":"https://doi.org/10.1109/ivs.2019.8814073","title":"Capturing Object Detection Uncertainty in Multi-Layer Grid Maps","display_name":"Capturing Object Detection Uncertainty in Multi-Layer Grid Maps","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2914811038","doi":"https://doi.org/10.1109/ivs.2019.8814073","mag":"2914811038"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2019.8814073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/1901.11284","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070078683","display_name":"Sascha Wirges","orcid":"https://orcid.org/0009-0003-3316-4140"},"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"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sascha Wirges","raw_affiliation_strings":["Mobile Perception Systems Group, FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Mobile Perception Systems Group, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055266164","display_name":"Marcel Reith\u2010Braun","orcid":"https://orcid.org/0000-0003-4289-6362"},"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"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marcel Reith-Braun","raw_affiliation_strings":["Mobile Perception Systems Group, FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Mobile Perception Systems Group, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008189468","display_name":"Martin Lauer","orcid":"https://orcid.org/0000-0003-4414-5722"},"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":"Martin Lauer","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT),Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT),Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"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":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT),Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT),Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070078683"],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":1.17574333,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.81633696,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1520","last_page":"1526"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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":0.9994999766349792,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7761527299880981},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7081623077392578},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6535098552703857},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6407434344291687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6358022689819336},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5620189905166626},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.49466320872306824},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46787023544311523},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4659266173839569},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.4521127939224243},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4388432204723358},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.43731021881103516},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43106862902641296},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.42395615577697754},{"id":"https://openalex.org/keywords/data-set","display_name":"Data set","score":0.4120626747608185},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.4022916853427887},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4004276394844055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1764967143535614},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14479300379753113},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11288493871688843}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7761527299880981},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7081623077392578},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6535098552703857},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6407434344291687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6358022689819336},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5620189905166626},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.49466320872306824},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46787023544311523},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4659266173839569},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.4521127939224243},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4388432204723358},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.43731021881103516},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43106862902641296},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.42395615577697754},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.4120626747608185},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.4022916853427887},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4004276394844055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1764967143535614},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14479300379753113},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11288493871688843},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ivs.2019.8814073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1901.11284","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1901.11284","pdf_url":"https://arxiv.org/pdf/1901.11284","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":"mag:2914811038","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1901.11284","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1901.11284","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1901.11284","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1901.11284","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1901.11284","pdf_url":"https://arxiv.org/pdf/1901.11284","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":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2914811038.pdf","grobid_xml":"https://content.openalex.org/works/W2914811038.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W601603264","https://openalex.org/W1999050017","https://openalex.org/W2150066425","https://openalex.org/W2203132937","https://openalex.org/W2605055943","https://openalex.org/W2899302124","https://openalex.org/W2904879496","https://openalex.org/W2949708697","https://openalex.org/W2950517871","https://openalex.org/W2963167203","https://openalex.org/W2963410012","https://openalex.org/W2963647876","https://openalex.org/W2964059111","https://openalex.org/W2970594690","https://openalex.org/W6617145748","https://openalex.org/W6735443497","https://openalex.org/W6736244717","https://openalex.org/W6755742144"],"related_works":["https://openalex.org/W2970003526","https://openalex.org/W2963167203","https://openalex.org/W2600383743","https://openalex.org/W2964059111","https://openalex.org/W2963611739","https://openalex.org/W2798462325","https://openalex.org/W2468368736","https://openalex.org/W2049012031","https://openalex.org/W3200439101","https://openalex.org/W2912789803","https://openalex.org/W3087105426","https://openalex.org/W2740975373","https://openalex.org/W3119965255","https://openalex.org/W2894705404","https://openalex.org/W2605189827","https://openalex.org/W2560544142","https://openalex.org/W2194775991","https://openalex.org/W2184393491","https://openalex.org/W2150066425","https://openalex.org/W2115579991"],"abstract_inverted_index":{"We":[0,67],"propose":[1],"a":[2,27,80,88],"deep":[3],"convolutional":[4],"object":[5,52,75,98],"detector":[6],"for":[7,34,62],"automated":[8],"driving":[9],"applications":[10],"that":[11],"also":[12,103],"estimates":[13],"classification,":[14],"pose":[15,46],"and":[16,39,47,82,91],"shape":[17,48],"uncertainty":[18,49],"of":[19,26],"each":[20],"detected":[21],"object.":[22],"The":[23],"input":[24],"consists":[25],"multi-layer":[28],"grid":[29],"map":[30],"which":[31,58,110],"is":[32],"well-suited":[33],"sensor":[35],"fusion,":[36],"free-space":[37],"estimation":[38],"machine":[40],"learning.":[41],"Based":[42],"on":[43,72],"the":[44,73],"estimated":[45],"we":[50,59],"approximate":[51],"hulls":[53],"with":[54],"bounded":[55],"collision":[56],"probability":[57],"find":[60],"helpful":[61],"subsequent":[63],"trajectory":[64],"planning":[65],"tasks.":[66],"train":[68],"our":[69,101],"models":[70,86,117],"based":[71],"KITTI":[74],"detection":[76],"data":[77,107,121],"set.":[78],"In":[79],"quantitative":[81],"qualitative":[83],"evaluation":[84,102],"some":[85],"show":[87],"similar":[89],"performance":[90],"superior":[92],"robustness":[93],"compared":[94],"to":[95,105],"previously":[96],"developed":[97],"detectors.":[99],"However,":[100],"points":[104],"undesired":[106],"set":[108],"properties":[109],"should":[111],"be":[112],"addressed":[113],"when":[114],"training":[115],"data-driven":[116],"or":[118],"creating":[119],"new":[120],"sets.":[122]},"counts_by_year":[{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}