{"id":"https://openalex.org/W3011694799","doi":"https://doi.org/10.1109/lra.2020.3016929","title":"End-to-End Velocity Estimation for Autonomous Racing","display_name":"End-to-End Velocity Estimation for Autonomous Racing","publication_year":2020,"publication_date":"2020-08-14","ids":{"openalex":"https://openalex.org/W3011694799","doi":"https://doi.org/10.1109/lra.2020.3016929","mag":"3011694799"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3016929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3016929","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.06917","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029362547","display_name":"Sirish Srinivasan","orcid":"https://orcid.org/0000-0001-9460-9025"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sirish Srinivasan","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-9460-9025","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065532121","display_name":"Inkyu Sa","orcid":"https://orcid.org/0000-0001-5429-0515"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Inkyu Sa","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Australia"],"raw_orcid":"https://orcid.org/0000-0001-5429-0515","affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048572024","display_name":"Alex Zyner","orcid":"https://orcid.org/0000-0002-7569-2131"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alex Zyner","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7569-2131","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037858247","display_name":"Victor Reijgwart","orcid":"https://orcid.org/0000-0002-7605-8490"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Victor Reijgwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7605-8490","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029156304","display_name":"Miguel I. Valls","orcid":"https://orcid.org/0000-0002-0722-9276"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Miguel I. Valls","raw_affiliation_strings":["Sevensense Robotics A.G, Z\u00fcrich, Switzerland","[Sevensense Robotics A.G, Z\u00fcrich, Switzerland]"],"raw_orcid":"https://orcid.org/0000-0002-0722-9276","affiliations":[{"raw_affiliation_string":"Sevensense Robotics A.G, Z\u00fcrich, Switzerland","institution_ids":[]},{"raw_affiliation_string":"[Sevensense Robotics A.G, Z\u00fcrich, Switzerland]","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2760-7983","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02605124,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"5","issue":"4","first_page":"6869","last_page":"6875"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","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/T10805","display_name":"Vehicle Dynamics and Control Systems","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/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":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6975668668746948},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6600151062011719},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6312538385391235},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6083223223686218},{"id":"https://openalex.org/keywords/axle","display_name":"Axle","score":0.5701910853385925},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5699066519737244},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5016779899597168},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3488539457321167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22801527380943298},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1943945288658142},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18215444684028625},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12345537543296814}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6975668668746948},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6600151062011719},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6312538385391235},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6083223223686218},{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.5701910853385925},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5699066519737244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5016779899597168},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3488539457321167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22801527380943298},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1943945288658142},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18215444684028625},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12345537543296814},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2020.3016929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3016929","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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:arXiv.org:2003.06917","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.06917","pdf_url":"https://arxiv.org/pdf/2003.06917","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":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"mag:3011694799","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2003.06917","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.2003.06917","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.06917","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:2003.06917","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.06917","pdf_url":"https://arxiv.org/pdf/2003.06917","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":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3011694799.pdf","grobid_xml":"https://content.openalex.org/works/W3011694799.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W6908809","https://openalex.org/W581956982","https://openalex.org/W1571530861","https://openalex.org/W1579853615","https://openalex.org/W1591801644","https://openalex.org/W1815076433","https://openalex.org/W1921523184","https://openalex.org/W1981269465","https://openalex.org/W2019954549","https://openalex.org/W2064675550","https://openalex.org/W2072666341","https://openalex.org/W2596883012","https://openalex.org/W2785634791","https://openalex.org/W2805116782","https://openalex.org/W2902276220","https://openalex.org/W2923554444","https://openalex.org/W2943945102","https://openalex.org/W2963371290","https://openalex.org/W2964059111","https://openalex.org/W2964121744","https://openalex.org/W2964330448","https://openalex.org/W2967807634","https://openalex.org/W2972690017","https://openalex.org/W3047366950","https://openalex.org/W3099205930","https://openalex.org/W6600284362","https://openalex.org/W6616837769","https://openalex.org/W6617145748","https://openalex.org/W6631190155","https://openalex.org/W6634817459","https://openalex.org/W6635446068","https://openalex.org/W6638545294","https://openalex.org/W6640185926","https://openalex.org/W6734629363"],"related_works":["https://openalex.org/W2317535402","https://openalex.org/W1985705956","https://openalex.org/W2116245783","https://openalex.org/W2617490590","https://openalex.org/W2102231850","https://openalex.org/W3205969355","https://openalex.org/W2897510327","https://openalex.org/W3126498210","https://openalex.org/W2170644609","https://openalex.org/W1973238368","https://openalex.org/W2149438799","https://openalex.org/W1996462566","https://openalex.org/W2045087316","https://openalex.org/W1921348982","https://openalex.org/W3210327128","https://openalex.org/W3082822615","https://openalex.org/W2123884653","https://openalex.org/W2144560482","https://openalex.org/W2345039223","https://openalex.org/W3045898982"],"abstract_inverted_index":{"Velocity":[0],"estimation":[1],"plays":[2],"a":[3,95],"central":[4],"role":[5],"in":[6],"driverless":[7,98],"vehicles,":[8],"but":[9],"standard,":[10],"and":[11,64,67,83,110,143],"affordable":[12],"methods":[13,89],"struggle":[14],"to":[15,24,75,116,126,131],"cope":[16],"with":[17,39,101,138,151],"extreme":[18],"scenarios":[19],"like":[20],"aggressive":[21],"maneuvers":[22],"due":[23],"the":[25,107,117,135,139,148,152],"presence":[26],"of":[27,119],"high":[28,103],"sideslip.":[29],"To":[30],"solve":[31],"this,":[32],"autonomous":[33],"race":[34,99],"cars":[35],"are":[36,73],"usually":[37],"equipped":[38],"expensive":[40,85,153],"external":[41],"velocity":[42,69,86,129,154],"sensors.":[43,87],"In":[44],"this":[45],"letter,":[46],"we":[47],"present":[48],"an":[49],"end-to-end":[50],"recurrent":[51],"neural":[52],"network":[53,123],"that":[54],"takes":[55],"available":[56],"raw":[57],"sensors":[58],"as":[59],"input":[60],"(IMU,":[61],"wheel":[62],"odometry,":[63],"motor":[65],"currents),":[66],"outputs":[68],"estimates.":[70],"The":[71,121],"results":[72],"compared":[74],"two":[76],"state-of-the-art":[77],"Kalman":[78,136,149],"filters,":[79],"which":[80],"respectively":[81],"include,":[82],"exclude":[84],"All":[88],"have":[90],"been":[91],"extensively":[92],"tested":[93],"on":[94],"formula":[96],"student":[97],"car":[100],"very":[102],"sideslip":[104],"(10\u00b0":[105],"at":[106],"rear":[108],"axle),":[109],"slip":[111],"ratio":[112],"(\u224820%),":[113],"operating":[114],"close":[115],"limits":[118],"handling.":[120],"proposed":[122],"is":[124],"able":[125],"estimate":[127],"lateral":[128],"up":[130],"15x":[132],"better":[133],"than":[134],"filter":[137,150],"equivalent":[140],"sensor":[141,155],"input,":[142],"matches":[144],"(0.06":[145],"m/s":[146],"RMSE)":[147],"setup.":[156]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}