{"id":"https://openalex.org/W3185925192","doi":"https://doi.org/10.1109/lra.2021.3091874","title":"Radar Odometry on $SE(3)$ With Constant Velocity Motion Prior","display_name":"Radar Odometry on $SE(3)$ With Constant Velocity Motion Prior","publication_year":2021,"publication_date":"2021-07-20","ids":{"openalex":"https://openalex.org/W3185925192","doi":"https://doi.org/10.1109/lra.2021.3091874","mag":"3185925192"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3091874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3091874","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":"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/A5042928691","display_name":"Kyle Retan","orcid":"https://orcid.org/0000-0002-1367-2549"},"institutions":[{"id":"https://openalex.org/I254181534","display_name":"ZF Friedrichshafen (Germany)","ror":"https://ror.org/021wbbm64","country_code":"DE","type":"company","lineage":["https://openalex.org/I254181534"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Kyle Retan","raw_affiliation_strings":["ZF Group, Friedrichshafen, Germany"],"affiliations":[{"raw_affiliation_string":"ZF Group, Friedrichshafen, Germany","institution_ids":["https://openalex.org/I254181534"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088895151","display_name":"Frasher Loshaj","orcid":null},"institutions":[{"id":"https://openalex.org/I254181534","display_name":"ZF Friedrichshafen (Germany)","ror":"https://ror.org/021wbbm64","country_code":"DE","type":"company","lineage":["https://openalex.org/I254181534"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frasher Loshaj","raw_affiliation_strings":["ZF Group, Friedrichshafen, Germany"],"affiliations":[{"raw_affiliation_string":"ZF Group, Friedrichshafen, Germany","institution_ids":["https://openalex.org/I254181534"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065874009","display_name":"Michael Heizmann","orcid":"https://orcid.org/0000-0001-9339-2055"},"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":"Michael Heizmann","raw_affiliation_strings":["Institute for Industrial Information Technology, Karlsruhe Institute of Technology, Friedrichshafen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Industrial Information Technology, Karlsruhe Institute of Technology, Friedrichshafen, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042928691"],"corresponding_institution_ids":["https://openalex.org/I254181534"],"apc_list":null,"apc_paid":null,"fwci":2.04,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.87845033,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":"6","issue":"4","first_page":"6386","last_page":"6393"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9976999759674072,"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/T10522","display_name":"Medical Imaging Techniques and Applications","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.85178142786026},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.7154597043991089},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5768497586250305},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5754766464233398},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.512185275554657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.505608320236206},{"id":"https://openalex.org/keywords/radar-engineering-details","display_name":"Radar engineering details","score":0.4769391119480133},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.41953253746032715},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.412087619304657},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.36534279584884644},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2215624749660492},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2125656008720398},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13477399945259094},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07348763942718506}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.85178142786026},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.7154597043991089},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5768497586250305},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5754766464233398},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.512185275554657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.505608320236206},{"id":"https://openalex.org/C134406370","wikidata":"https://www.wikidata.org/wiki/Q832005","display_name":"Radar engineering details","level":4,"score":0.4769391119480133},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.41953253746032715},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.412087619304657},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.36534279584884644},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2215624749660492},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2125656008720398},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13477399945259094},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07348763942718506}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3091874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3091874","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1582306910","https://openalex.org/W2006368361","https://openalex.org/W2038701704","https://openalex.org/W2110806706","https://openalex.org/W2115126368","https://openalex.org/W2158662637","https://openalex.org/W2204930965","https://openalex.org/W2745007981","https://openalex.org/W2969150231","https://openalex.org/W2970479183","https://openalex.org/W3006166967","https://openalex.org/W3031624864","https://openalex.org/W3089835902","https://openalex.org/W3090139470","https://openalex.org/W3128472000","https://openalex.org/W4246483956","https://openalex.org/W4289543132","https://openalex.org/W6763417910","https://openalex.org/W6767711165","https://openalex.org/W6767855503"],"related_works":["https://openalex.org/W4287694812","https://openalex.org/W3128716822","https://openalex.org/W3046762217","https://openalex.org/W4390045144","https://openalex.org/W4285814362","https://openalex.org/W4352982730","https://openalex.org/W2438042271","https://openalex.org/W3207185864","https://openalex.org/W3127689436","https://openalex.org/W4296425733"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"an":[3],"approach":[4,59,77,88],"to":[5,48,91],"estimating":[6],"vehicle":[7],"odometry":[8,95],"on":[9],"SE(3)":[10,23],"using":[11,62],"a":[12,20,27,35,66,99],"high":[13],"resolution":[14],"automotive":[15],"radar":[16,29,69,94],"sensor.":[17,70],"We":[18,40,71],"combine":[19],"constant":[21],"velocity":[22,46],"motion":[24,80],"prior":[25],"with":[26],"3D":[28],"point":[30,51],"cloud":[31,52],"measurement":[32,47],"model":[33],"in":[34],"sliding":[36],"window":[37],"optimization":[38],"scheme.":[39],"leverage":[41],"radar's":[42],"highly":[43],"precise":[44],"radial":[45],"compensate":[49],"for":[50,78],"sparsity":[53],"and":[54],"improve":[55],"data":[56],"association.":[57],"Our":[58],"is":[60,89],"tested":[61],"real-world":[63],"measurements":[64],"from":[65],"prototype":[67],"high-resolution":[68],"demonstrate":[72],"the":[73],"results":[74],"of":[75,102],"this":[76],"6D":[79],"estimation.":[81],"In":[82],"addition,":[83],"we":[84],"show":[85],"that":[86],"our":[87],"comparable":[90],"state-of-the-art":[92],"SE(2)":[93],"estimates":[96],"while":[97],"running":[98],"full":[100],"order":[101],"magnitude":[103],"faster.":[104]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}