{"id":"https://openalex.org/W4388820033","doi":"https://doi.org/10.1109/lra.2023.3334683","title":"Onboard Dynamic-Object Detection and Tracking for Autonomous Robot Navigation With RGB-D Camera","display_name":"Onboard Dynamic-Object Detection and Tracking for Autonomous Robot Navigation With RGB-D Camera","publication_year":2023,"publication_date":"2023-11-20","ids":{"openalex":"https://openalex.org/W4388820033","doi":"https://doi.org/10.1109/lra.2023.3334683"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3334683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3334683","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/A5022255218","display_name":"Zhefan Xu","orcid":"https://orcid.org/0000-0002-9395-9549"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zhefan Xu","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063906127","display_name":"Xiaoyang Zhan","orcid":"https://orcid.org/0009-0007-9805-9172"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaoyang Zhan","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073987176","display_name":"Yumeng Xiu","orcid":"https://orcid.org/0009-0008-0103-6925"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yumeng Xiu","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017779653","display_name":"Christopher Suzuki","orcid":"https://orcid.org/0009-0009-5361-3939"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Suzuki","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101724128","display_name":"Kenji Shimada","orcid":"https://orcid.org/0000-0001-8827-672X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenji Shimada","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5022255218"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":39.9582,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.99789828,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"651","last_page":"658"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9987000226974487,"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":0.7585316896438599},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7232411503791809},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7156051397323608},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6851311922073364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5482105612754822},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5263063907623291},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4491010010242462},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.44271910190582275},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.43910178542137146},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.412800133228302},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3389838933944702},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.15303263068199158}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7585316896438599},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7232411503791809},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7156051397323608},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6851311922073364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5482105612754822},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5263063907623291},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4491010010242462},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.44271910190582275},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.43910178542137146},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.412800133228302},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3389838933944702},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.15303263068199158},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3334683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3334683","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":[{"id":"https://metadata.un.org/sdg/7","score":0.6399999856948853,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2158955701","https://openalex.org/W2491550889","https://openalex.org/W2769273428","https://openalex.org/W2785582094","https://openalex.org/W2804699200","https://openalex.org/W2897529137","https://openalex.org/W2950989657","https://openalex.org/W2965737813","https://openalex.org/W2991215750","https://openalex.org/W3011524659","https://openalex.org/W3034314779","https://openalex.org/W3044149300","https://openalex.org/W3089858107","https://openalex.org/W3091956924","https://openalex.org/W3104842437","https://openalex.org/W3105213754","https://openalex.org/W3133110313","https://openalex.org/W3135067689","https://openalex.org/W3164088557","https://openalex.org/W3188485279","https://openalex.org/W3199037603","https://openalex.org/W3199843468","https://openalex.org/W3200568502","https://openalex.org/W3205679795","https://openalex.org/W4225120267","https://openalex.org/W4293716288","https://openalex.org/W4294982669","https://openalex.org/W4383066227","https://openalex.org/W4383172048","https://openalex.org/W4387682314","https://openalex.org/W6729897906","https://openalex.org/W6770404345"],"related_works":["https://openalex.org/W4384112194","https://openalex.org/W2783354812","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W2349383066","https://openalex.org/W1969901537","https://openalex.org/W4328132048","https://openalex.org/W4308259661","https://openalex.org/W2376202349","https://openalex.org/W2969318460"],"abstract_inverted_index":{"Deploying":[0],"autonomous":[1,23],"robots":[2,99],"in":[3,21,170],"crowded":[4],"indoor":[5],"environments":[6],"usually":[7],"requires":[8],"them":[9],"to":[10,62,119,136,155],"have":[11,26],"accurate":[12],"dynamic":[13,82,162,228],"obstacle":[14,83,123,158,163],"perception.":[15],"Although":[16],"plenty":[17],"of":[18,35],"previous":[19],"works":[20],"the":[22,28,33,157,175,183,197,202,211,215,220],"driving":[24],"field":[25],"investigated":[27],"3D":[29,81],"object":[30],"detection":[31,84,110,159],"problem,":[32],"usage":[34],"dense":[36],"point":[37,140],"clouds":[38],"from":[39,214],"a":[40,79,107,128,171,190],"heavy":[41],"Light":[42],"Detection":[43],"and":[44,48,85,133,151,161,174,189],"Ranging":[45],"(LiDAR)":[46],"sensor":[47],"their":[49],"high":[50],"computation":[51],"cost":[52],"for":[53,97,226],"learning-based":[54,153],"data":[55,131],"processing":[56],"make":[57,219],"those":[58],"methods":[59],"not":[60],"applicable":[61],"small":[63,70,172],"robots,":[64],"such":[65],"as":[66,239],"vision-based":[67],"UAVs":[68],"with":[69,100],"onboard":[71,204],"computers.":[72],"To":[73],"address":[74],"this":[75],"issue,":[76],"we":[77,126],"propose":[78],"lightweight":[80],"tracking":[86,134,212],"(DODT)":[87],"method":[88,105,135,167,180,217],"based":[89],"on":[90,201,234],"an":[91,149,240],"RGB-D":[92],"camera,":[93],"which":[94],"is":[95,168,232],"designed":[96],"low-power":[98],"limited":[101],"computing":[102],"power.":[103],"Our":[104,230],"adopts":[106],"novel":[108],"ensemble":[109],"strategy,":[111],"combining":[112],"multiple":[113],"computationally":[114],"efficient":[115],"but":[116],"low-accuracy":[117],"detectors":[118],"achieve":[120,182],"real-time":[121],"high-accuracy":[122],"detection.":[124],"Besides,":[125],"introduce":[127],"new":[129],"feature-based":[130],"association":[132],"prevent":[137],"mismatches":[138],"utilizing":[139],"clouds'":[141],"statistical":[142],"features.":[143],"In":[144],"addition,":[145],"our":[146,179],"system":[147],"includes":[148],"optional":[150],"auxiliary":[152],"module":[154],"enhance":[156],"range":[160],"identification.":[164],"The":[165,206],"proposed":[166,216],"implemented":[169],"quadcopter,":[173],"results":[176,213],"show":[177],"that":[178,210],"can":[181,218],"lowest":[184],"position":[185],"error":[186,193],"(0.11":[187],"m)":[188],"comparable":[191],"velocity":[192],"(0.23":[194],"m/s)":[195],"across":[196],"benchmarking":[198],"algorithms":[199],"running":[200],"robot's":[203],"computer.":[205],"flight":[207],"experiments":[208],"prove":[209],"robot":[221],"efficiently":[222],"alter":[223],"its":[224],"trajectory":[225],"navigating":[227],"environments.":[229],"software":[231],"available":[233],"GitHub":[235],"<sup":[236],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[237],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[238],"open-source":[241],"ROS":[242],"package.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":28},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
