{"id":"https://openalex.org/W2588654400","doi":"https://doi.org/10.1109/mfi.2016.7849476","title":"Environment-aware sensor fusion for obstacle detection","display_name":"Environment-aware sensor fusion for obstacle detection","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2588654400","doi":"https://doi.org/10.1109/mfi.2016.7849476","mag":"2588654400"},"language":"en","primary_location":{"id":"doi:10.1109/mfi.2016.7849476","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2016.7849476","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-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/A5068689920","display_name":"Adrian Rechy Romero","orcid":null},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"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":["AU","CH"],"is_corresponding":true,"raw_author_name":"Adrian Rechy Romero","raw_affiliation_strings":["CSIRO, Autonomous Systems Laboratory, Australia","ETH, Autonomous Systems Lab, Zurich"],"affiliations":[{"raw_affiliation_string":"CSIRO, Autonomous Systems Laboratory, Australia","institution_ids":["https://openalex.org/I1292875679"]},{"raw_affiliation_string":"ETH, Autonomous Systems Lab, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027373455","display_name":"Paulo Borges","orcid":"https://orcid.org/0000-0001-8137-7245"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Paulo Vinicius Koerich Borges","raw_affiliation_strings":["CSIRO, Autonomous Systems Laboratory, Australia"],"affiliations":[{"raw_affiliation_string":"CSIRO, Autonomous Systems Laboratory, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085516662","display_name":"Alberto Elfes","orcid":"https://orcid.org/0000-0003-2433-995X"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Alberto Elfes","raw_affiliation_strings":["CSIRO, Autonomous Systems Laboratory, Australia"],"affiliations":[{"raw_affiliation_string":"CSIRO, Autonomous Systems Laboratory, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016786013","display_name":"Andreas Pfrunder","orcid":null},"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"]},{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU","CH"],"is_corresponding":false,"raw_author_name":"Andreas Pfrunder","raw_affiliation_strings":["CSIRO, Autonomous Systems Laboratory, Australia","ETH, Autonomous Systems Lab, Zurich"],"affiliations":[{"raw_affiliation_string":"CSIRO, Autonomous Systems Laboratory, Australia","institution_ids":["https://openalex.org/I1292875679"]},{"raw_affiliation_string":"ETH, Autonomous Systems Lab, Zurich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5068689920"],"corresponding_institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":8.3942,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.97079639,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"3","issue":null,"first_page":"114","last_page":"121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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":0.9986000061035156,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9976000189781189,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9868999719619751,"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/obstacle","display_name":"Obstacle","score":0.7906149625778198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6082128286361694},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5899403691291809},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4728306233882904},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33606693148612976},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09923321008682251}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7906149625778198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6082128286361694},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5899403691291809},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4728306233882904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33606693148612976},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09923321008682251},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mfi.2016.7849476","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2016.7849476","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1483307070","https://openalex.org/W1484387568","https://openalex.org/W1494501886","https://openalex.org/W1500998237","https://openalex.org/W1592813209","https://openalex.org/W1922239701","https://openalex.org/W1969483458","https://openalex.org/W1972267259","https://openalex.org/W1997977858","https://openalex.org/W2006368361","https://openalex.org/W2079054072","https://openalex.org/W2109122915","https://openalex.org/W2122410182","https://openalex.org/W2124792970","https://openalex.org/W2131865378","https://openalex.org/W2135092312","https://openalex.org/W2143824592","https://openalex.org/W2143908786","https://openalex.org/W2168519618","https://openalex.org/W2901136733","https://openalex.org/W4230475428","https://openalex.org/W4243354998","https://openalex.org/W6635545125","https://openalex.org/W6676513217","https://openalex.org/W6678087030","https://openalex.org/W6679875354","https://openalex.org/W6680173660","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2353265673","https://openalex.org/W2152662039"],"abstract_inverted_index":{"Reliably":[0],"detecting":[1,162],"obstacles":[2],"and":[3,62,153,177],"identifying":[4],"traversable":[5],"areas":[6,132],"is":[7,20,66,94,105,118,142],"a":[8,52,101,126,134,139,178,197],"key":[9],"challenge":[10],"in":[11,85,100,108,190,194],"mobile":[12],"robotics.":[13],"For":[14],"redundancy,":[15],"information":[16,65],"from":[17],"multiple":[18],"sensors":[19,61,176],"often":[21],"fused.":[22],"In":[23],"this":[24],"work":[25],"we":[26],"discuss":[27],"how":[28],"prior":[29],"knowledge":[30],"of":[31,38,45,58,82,88,133,138,204],"the":[32,36,43,56,73,79,106,123,130,147,150,154,157,202,205],"environment":[33],"can":[34],"improve":[35],"quality":[37],"sensor":[39,70,84,140,199],"fusion,":[40,71,200],"thereby":[41],"increasing":[42],"performance":[44,57,81,137,193],"an":[46,89,168,188],"obstacle":[47,59,191],"detection":[48,60,183,192],"module.":[49],"We":[50],"define":[51],"methodology":[53],"to":[54],"quantify":[55],"algorithms.":[63],"This":[64],"used":[67],"for":[68,96],"environment-aware":[69],"where":[72],"fusion":[74],"parameters":[75],"are":[76,165],"dependent":[77],"on":[78,146,167],"past":[80],"each":[83],"different":[86],"parts":[87],"operation":[90],"site.":[91,135],"The":[92,116,136,185],"method":[93],"suitable":[95,127],"vehicles":[97],"that":[98,156],"operate":[99],"known":[102],"area,":[103],"as":[104],"case":[107],"many":[109],"practical":[110],"scenarios":[111],"(warehouses,":[112],"factories,":[113],"mines,":[114],"etc).":[115],"system":[117],"\u201ctrained\u201d":[119],"by":[120],"manually":[121],"driving":[122],"robot":[124,171],"through":[125],"trajectory":[128,152,155],"along":[129],"operational":[131],"configuration":[141],"then":[143],"measured":[144],"based":[145],"similarity":[148],"between":[149],"manually-driven":[151],"path":[158],"planner":[159],"generates":[160],"after":[161],"obstacles.":[163],"Experiments":[164],"performed":[166],"autonomous":[169],"ground":[170],"equipped":[172],"with":[173,181,196],"2D":[174],"laser":[175],"monocular":[179],"camera":[180],"road":[182],"capabilities.":[184],"results":[186],"show":[187],"improvement":[189],"comparison":[195],"\u201cnaive\u201d":[198],"illustrating":[201],"applicability":[203],"method.":[206]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}