{"id":"https://openalex.org/W2971290980","doi":"https://doi.org/10.1109/ivs.2019.8814118","title":"3D Object Trajectory Reconstruction using Instance-Aware Multibody Structure from Motion and Stereo Sequence Constraints","display_name":"3D Object Trajectory Reconstruction using Instance-Aware Multibody Structure from Motion and Stereo Sequence Constraints","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2971290980","doi":"https://doi.org/10.1109/ivs.2019.8814118","mag":"2971290980"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2019.8814118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814118","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://publica.fraunhofer.de/documents/N-546285.html","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069250418","display_name":"Sebastian Bullinger","orcid":"https://orcid.org/0000-0002-1584-5319"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sebastian Bullinger","raw_affiliation_strings":["Fraunhofer IOSB, Ettlingen, Germany","Department of Object Recognition, Fraunhofer IOSB, Ettlingen, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IOSB, Ettlingen, Germany","institution_ids":["https://openalex.org/I4210111500"]},{"raw_affiliation_string":"Department of Object Recognition, Fraunhofer IOSB, Ettlingen, Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008037781","display_name":"Christoph Bodensteiner","orcid":"https://orcid.org/0000-0002-5563-3484"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Bodensteiner","raw_affiliation_strings":["Fraunhofer IOSB, Ettlingen, Germany","Department of Object Recognition, Fraunhofer IOSB, Ettlingen, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IOSB, Ettlingen, Germany","institution_ids":["https://openalex.org/I4210111500"]},{"raw_affiliation_string":"Department of Object Recognition, Fraunhofer IOSB, Ettlingen, Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000041406","display_name":"Michael Arens","orcid":"https://orcid.org/0000-0002-7857-0332"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Arens","raw_affiliation_strings":["Fraunhofer IOSB, Ettlingen, Germany","Department of Object Recognition, Fraunhofer IOSB, Ettlingen, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IOSB, Ettlingen, Germany","institution_ids":["https://openalex.org/I4210111500"]},{"raw_affiliation_string":"Department of Object Recognition, Fraunhofer IOSB, Ettlingen, Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087051920","display_name":"Rainer Stiefelhagen","orcid":"https://orcid.org/0000-0001-8046-4945"},"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":"Rainer Stiefelhagen","raw_affiliation_strings":["Karlsruhe Institute of Technology, Karslruhe, Germany","Department of Computer Science, Karlsruhe Institute of Technology, Karslruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology, Karslruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Department of Computer Science, Karlsruhe Institute of Technology, Karslruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069250418"],"corresponding_institution_ids":["https://openalex.org/I4210111500"],"apc_list":null,"apc_paid":null,"fwci":0.1012,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4365466,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"466","last_page":"473"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":1.0,"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":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9995999932289124,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8100907206535339},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8085368275642395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7435505986213684},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5906122922897339},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5796560049057007},{"id":"https://openalex.org/keywords/structure-from-motion","display_name":"Structure from motion","score":0.5674809217453003},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.463828444480896},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.45719778537750244},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.45024701952934265},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4422365725040436},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.4326092004776001},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.4172074794769287},{"id":"https://openalex.org/keywords/computer-stereo-vision","display_name":"Computer stereo vision","score":0.4158831238746643},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.2970147728919983},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2074134349822998},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.149224191904068},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0817423164844513}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8100907206535339},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8085368275642395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7435505986213684},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5906122922897339},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5796560049057007},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.5674809217453003},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.463828444480896},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.45719778537750244},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.45024701952934265},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4422365725040436},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.4326092004776001},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.4172074794769287},{"id":"https://openalex.org/C31451488","wikidata":"https://www.wikidata.org/wiki/Q5157586","display_name":"Computer stereo vision","level":3,"score":0.4158831238746643},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2970147728919983},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2074134349822998},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.149224191904068},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0817423164844513},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ivs.2019.8814118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814118","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:fraunhofer.de:N-546285","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-546285.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IOSB","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/404625","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/404625","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:fraunhofer.de:N-546285","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-546285.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IOSB","raw_type":"Conference Paper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8299999833106995,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W42608200","https://openalex.org/W55377555","https://openalex.org/W568081588","https://openalex.org/W1912649600","https://openalex.org/W1965178295","https://openalex.org/W1969225916","https://openalex.org/W2019844423","https://openalex.org/W2033819227","https://openalex.org/W2034869517","https://openalex.org/W2056145819","https://openalex.org/W2115579991","https://openalex.org/W2117248802","https://openalex.org/W2132525028","https://openalex.org/W2137813581","https://openalex.org/W2170242641","https://openalex.org/W2182229738","https://openalex.org/W2216125271","https://openalex.org/W2221172382","https://openalex.org/W2222512263","https://openalex.org/W2292391751","https://openalex.org/W2340897893","https://openalex.org/W2395611524","https://openalex.org/W2441099548","https://openalex.org/W2471962767","https://openalex.org/W2555182955","https://openalex.org/W2560474170","https://openalex.org/W2592253736","https://openalex.org/W2613115234","https://openalex.org/W2739013603","https://openalex.org/W2746349752","https://openalex.org/W2895714354","https://openalex.org/W2903772787","https://openalex.org/W2958801666","https://openalex.org/W2963150697","https://openalex.org/W2963496125","https://openalex.org/W2963619659","https://openalex.org/W3106025793","https://openalex.org/W3199643754","https://openalex.org/W4241214195","https://openalex.org/W4285053689","https://openalex.org/W6640185247","https://openalex.org/W6642248785","https://openalex.org/W6680265511","https://openalex.org/W6688959681","https://openalex.org/W6718625422"],"related_works":["https://openalex.org/W812480148","https://openalex.org/W307265996","https://openalex.org/W1981191647","https://openalex.org/W2997246943","https://openalex.org/W2015421583","https://openalex.org/W2095498067","https://openalex.org/W1593347678","https://openalex.org/W2354637046","https://openalex.org/W2759529350","https://openalex.org/W2010500171"],"abstract_inverted_index":{"Three-dimensional":[0],"environment":[1],"perception":[2],"is":[3,24,28,177],"a":[4,150],"key":[5],"element":[6],"of":[7,123,137,144,154,169],"autonomous":[8],"driving":[9,138],"and":[10,72,84,101,125],"driver":[11],"assistance":[12],"systems.":[13],"A":[14],"common":[15],"image":[16],"based":[17,40],"approach":[18,45],"to":[19,37,46,82,87,93,141],"determine":[20,88],"three-dimensional":[21,48],"scene":[22],"information":[23],"stereo":[25,32,38,109,120,155],"matching,":[26],"which":[27],"limited":[29],"by":[30,107],"the":[31,103,142,173],"camera":[33,90,110],"baseline.":[34],"In":[35],"contrast":[36],"matching":[39],"methods,":[41],"we":[42,148],"present":[43],"an":[44,165],"reconstruct":[47],"object":[49,56,62,83,94,117,124],"trajectories":[50,118],"combining":[51],"temporal":[52],"adjacent":[53],"views":[54],"for":[55],"point":[57],"triangulation.":[58],"We":[59,76,115,128],"track":[60],"two-dimensional":[61],"shapes":[63],"on":[64,178],"pixel":[65],"level":[66],"exploiting":[67],"instance-aware":[68],"semantic":[69],"segmentation":[70],"techniques":[71],"optical":[73],"flow":[74],"cues.":[75],"apply":[77],"Structure":[78],"from":[79],"Motion":[80],"(SfM)":[81],"background":[85,99,126],"images":[86],"initial":[89,104],"poses":[91],"relative":[92],"instances":[95],"as":[96,98],"well":[97],"structures":[100],"refine":[102],"SfM":[105],"results":[106,131],"integrating":[108],"constraints":[111,122],"using":[112,119,132,172],"factor":[113],"graphs.":[114],"compute":[116],"sequence":[121],"reconstructions.":[127],"show":[129],"qualitative":[130],"publicly":[133,184],"available":[134],"video":[135],"data":[136],"sequences.":[139],"Due":[140],"lack":[143],"suitable":[145],"ground":[146],"truth,":[147],"create":[149],"synthetic":[151],"benchmark":[152],"dataset":[153,176],"sequences":[156],"with":[157],"vehicles":[158],"in":[159],"urban":[160],"environments.":[161],"Our":[162],"algorithm":[163],"achieves":[164],"average":[166],"trajectory":[167],"error":[168],"0.09":[170],"meter":[171],"dataset.":[174],"The":[175],"our":[179],"website":[180],"<sup":[181],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[182],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[183],"available.":[185]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}