{"id":"https://openalex.org/W2803464683","doi":"https://doi.org/10.1109/lra.2018.2835510","title":"Deep Person Detection in Two-Dimensional Range Data","display_name":"Deep Person Detection in Two-Dimensional Range Data","publication_year":2018,"publication_date":"2018-05-11","ids":{"openalex":"https://openalex.org/W2803464683","doi":"https://doi.org/10.1109/lra.2018.2835510","mag":"2803464683"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2835510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2835510","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5055629014","display_name":"Lucas Beyer","orcid":"https://orcid.org/0000-0002-0460-0607"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lucas Beyer","raw_affiliation_strings":["Visual Computing Institute, RWTH Aachen University, Aachen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0460-0607","affiliations":[{"raw_affiliation_string":"Visual Computing Institute, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071563379","display_name":"Alexander Hermans","orcid":"https://orcid.org/0000-0003-2127-0782"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Hermans","raw_affiliation_strings":["Visual Computing Institute, RWTH Aachen University, Aachen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2127-0782","affiliations":[{"raw_affiliation_string":"Visual Computing Institute, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084203306","display_name":"Timm Linder","orcid":"https://orcid.org/0000-0001-8532-0262"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Timm Linder","raw_affiliation_strings":["Robert Bosch GmbH, Corporate Research, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8532-0262","affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Stuttgart, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111969299","display_name":"Kai O. Arras","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai O. Arras","raw_affiliation_strings":["Robert Bosch GmbH, Corporate Research, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Stuttgart, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071006649","display_name":"Bastian Leibe","orcid":"https://orcid.org/0000-0003-4225-0051"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bastian Leibe","raw_affiliation_strings":["Visual Computing Institute, RWTH Aachen University, Aachen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4225-0051","affiliations":[{"raw_affiliation_string":"Visual Computing Institute, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3381,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.81976514,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"3","issue":"3","first_page":"2726","last_page":"2733"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9955000281333923,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9955000281333923,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9904999732971191,"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":0.7382850646972656},{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.6641806960105896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.657866895198822},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.490792840719223},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4769122302532196},{"id":"https://openalex.org/keywords/crowds","display_name":"Crowds","score":0.4588398039340973},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4562957286834717},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.45023995637893677},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4408618211746216},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43528443574905396}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7382850646972656},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.6641806960105896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.657866895198822},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.490792840719223},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4769122302532196},{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.4588398039340973},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4562957286834717},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.45023995637893677},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4408618211746216},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43528443574905396},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2018.2835510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2835510","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:publications.rwth-aachen.de:726865","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/search?p=id:%22RWTH-2018-225275%22","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters 3(3), 2726-2733 (2018). doi:10.1109/LRA.2018.2835510","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1578421573","https://openalex.org/W1677182931","https://openalex.org/W1836465849","https://openalex.org/W2032729564","https://openalex.org/W2095705004","https://openalex.org/W2097117768","https://openalex.org/W2111957821","https://openalex.org/W2113207845","https://openalex.org/W2150066425","https://openalex.org/W2161426450","https://openalex.org/W2211722331","https://openalex.org/W2267107524","https://openalex.org/W2275395544","https://openalex.org/W2302255633","https://openalex.org/W2337890890","https://openalex.org/W2341150500","https://openalex.org/W2342662179","https://openalex.org/W2411443472","https://openalex.org/W2549139847","https://openalex.org/W2560609797","https://openalex.org/W2570343428","https://openalex.org/W2594507094","https://openalex.org/W2899771611","https://openalex.org/W2963171508","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W3101693694","https://openalex.org/W3149553225","https://openalex.org/W4298857966","https://openalex.org/W6631190155","https://openalex.org/W6637967152","https://openalex.org/W6638667902","https://openalex.org/W6677088747","https://openalex.org/W6703477647","https://openalex.org/W6745896446","https://openalex.org/W6756040250","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W4240200267","https://openalex.org/W4378364071","https://openalex.org/W2399287283","https://openalex.org/W1511510665","https://openalex.org/W1524661185","https://openalex.org/W2078823605","https://openalex.org/W1998563140","https://openalex.org/W2500095415","https://openalex.org/W4233026749","https://openalex.org/W2097922264"],"abstract_inverted_index":{"Detecting":[0,66],"humans":[1],"is":[2,21,72,194],"a":[3,13,46,60,140,179,195],"key":[4],"skill":[5],"for":[6,24,50],"mobile":[7,52],"robots":[8,53],"and":[9,56,78,84,90,113],"intelligent":[10],"vehicles":[11],"in":[12,54,93,146,170,178],"large":[14],"variety":[15],"of":[16,80,88,95,167],"applications.":[17],"Although":[18],"the":[19,76,85,108,125,156,164,205],"problem":[20],"well":[22],"studied":[23],"certain":[25],"sensory":[26,48],"modalities":[27],"such":[28],"as":[29],"image":[30],"data,":[31,173],"few":[32],"works":[33],"exist":[34],"that":[35,132],"address":[36],"this":[37,121,163],"detection":[38],"task":[39],"using":[40],"two-dimensional":[41],"(2-D)":[42],"range":[43,70,172],"data.":[44],"However,":[45],"widespread":[47],"setup":[49],"many":[51],"service":[55],"domestic":[57],"applications":[58],"contains":[59],"horizontally":[61],"mounted":[62],"2-D":[63,69,171],"laser":[64],"scanner.":[65],"people":[67],"from":[68],"data":[71],"challenging":[73,196],"due":[74],"to":[75,127],"speed":[77],"dynamics":[79],"human":[81],"leg":[82],"motion":[83],"high":[86,183],"levels":[87],"occlusion":[89],"self-occlusion":[91],"particularly":[92],"crowds":[94],"people.":[96],"While":[97],"previous":[98],"approaches":[99],"mostly":[100],"relied":[101],"on":[102,198],"handcrafted":[103],"features,":[104],"we":[105,123,149],"recently":[106],"developed":[107],"deep":[109],"learning":[110],"based":[111],"wheelchair":[112],"walker":[114],"detector":[115,203],"distance":[116],"robust":[117],"wheelchair/walker":[118],"(DROW).":[119],"In":[120],"letter,":[122],"show":[124],"generalization":[126],"people,":[128],"including":[129],"small":[130],"modifications":[131],"significantly":[133],"boost":[134,151],"DROW's":[135],"performance.":[136],"Additionally,":[137],"by":[138],"providing":[139],"small,":[141],"fully":[142],"online":[143],"temporal":[144],"window":[145],"our":[147,152,200],"network,":[148],"further":[150],"score.":[153],"We":[154],"extend":[155],"DROW":[157,202],"dataset":[158,166],"with":[159,182,187],"person":[160,168],"annotations,":[161],"making":[162],"largest":[165],"annotations":[169],"recorded":[174],"during":[175],"several":[176],"days":[177],"real-world":[180],"environment":[181],"diversity.":[184],"Extensive":[185],"experiments":[186],"three":[188],"current":[189,206],"baseline":[190],"methods":[191],"indicate":[192],"it":[193],"dataset,":[197],"which":[199],"improved":[201],"beats":[204],"state-of-the-art.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}