{"id":"https://openalex.org/W2773077646","doi":"https://doi.org/10.1109/mfi.2017.8170395","title":"Graph based cooperative localization using symmetric measurement equations and dedicated short range communication","display_name":"Graph based cooperative localization using symmetric measurement equations and dedicated short range communication","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2773077646","doi":"https://doi.org/10.1109/mfi.2017.8170395","mag":"2773077646"},"language":"en","primary_location":{"id":"doi:10.1109/mfi.2017.8170395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2017.8170395","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1421613","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109378147","display_name":"Dhiraj Gulati","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Dhiraj Gulati","raw_affiliation_strings":["Fortiss GmbH, Munchen","Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Fortiss GmbH, Munchen","institution_ids":["https://openalex.org/I4210134795"]},{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101421860","display_name":"Feihu Zhang","orcid":"https://orcid.org/0000-0002-1774-727X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feihu Zhang","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011173231","display_name":"Daniel Clarke","orcid":"https://orcid.org/0000-0002-7499-8884"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Clarke","raw_affiliation_strings":["Cogsense Technologies Limited, England"],"affiliations":[{"raw_affiliation_string":"Cogsense Technologies Limited, England","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5109378147"],"corresponding_institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.2867,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.6113238,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"644","last_page":"649"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/dedicated-short-range-communications","display_name":"Dedicated short-range communications","score":0.9268549680709839},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6691619753837585},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.6259591579437256},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5373142957687378},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5324761867523193},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.4890471398830414},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.42514508962631226},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4206116795539856},{"id":"https://openalex.org/keywords/factor","display_name":"Factor (programming language)","score":0.4149366021156311},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40355491638183594},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3379098176956177},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.2214779555797577},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2212165892124176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21263331174850464},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.16673514246940613},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.15213951468467712},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12093046307563782}],"concepts":[{"id":"https://openalex.org/C53140260","wikidata":"https://www.wikidata.org/wiki/Q1182198","display_name":"Dedicated short-range communications","level":3,"score":0.9268549680709839},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6691619753837585},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.6259591579437256},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5373142957687378},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5324761867523193},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.4890471398830414},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.42514508962631226},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4206116795539856},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.4149366021156311},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40355491638183594},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3379098176956177},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.2214779555797577},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2212165892124176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21263331174850464},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.16673514246940613},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.15213951468467712},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12093046307563782},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mfi.2017.8170395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2017.8170395","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1421613","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1421613","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1421613","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1421613","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1592358051","https://openalex.org/W1975057272","https://openalex.org/W1978255623","https://openalex.org/W2012462772","https://openalex.org/W2015794021","https://openalex.org/W2017489593","https://openalex.org/W2027071573","https://openalex.org/W2044006304","https://openalex.org/W2045450090","https://openalex.org/W2064169939","https://openalex.org/W2115287871","https://openalex.org/W2128453677","https://openalex.org/W2129977043","https://openalex.org/W2137813581","https://openalex.org/W2138890480","https://openalex.org/W2146702612","https://openalex.org/W2149433611","https://openalex.org/W2150859678","https://openalex.org/W2152910052","https://openalex.org/W2159510307","https://openalex.org/W2540120841","https://openalex.org/W2626395196","https://openalex.org/W2743643356","https://openalex.org/W4234095850","https://openalex.org/W6742806753"],"related_works":["https://openalex.org/W2017954997","https://openalex.org/W2372407344","https://openalex.org/W2900465568","https://openalex.org/W637904854","https://openalex.org/W3029666588","https://openalex.org/W2169410438","https://openalex.org/W2593528782","https://openalex.org/W2548694007","https://openalex.org/W1557056212","https://openalex.org/W2757251458"],"abstract_inverted_index":{"Safety":[0],"is":[1,28,126],"one":[2],"of":[3,17,31,43,57,96,154],"the":[4,18,32,41,55,61,94,104,109,119,120,130,142,150,159],"critical":[5],"challenges":[6],"for":[7,21],"a":[8,22,49,68,97,136,164],"semi":[9],"or":[10],"fully":[11],"automated":[12,24,169],"driving":[13,25,170],"assistance":[14,26,171],"systems.":[15,172],"One":[16],"key":[19],"parameters":[20],"safe":[23,168],"system":[27],"precise":[29],"localization":[30,80],"self":[33],"and":[34,53],"surrounding":[35],"vehicles.":[36,111,122],"Our":[37],"previous":[38],"work":[39,90],"demonstrated":[40],"use":[42,56],"Symmetric":[44],"Measurement":[45],"Equations":[46],"(SME)":[47],"in":[48,93,117,141,158],"Factor":[50,140,143,160],"Graph":[51],"framework":[52],"exploited":[54],"sensor":[58,106],"located":[59],"outside":[60],"vehicle.":[62],"In":[63],"this":[64],"paper":[65],"we":[66],"present":[67],"new":[69,137],"approach":[70,153],"which":[71],"not":[72,101],"only":[73,102,155],"performs":[74],"above":[75],"mentioned":[76],"cooperative":[77],"vehicle":[78],"infrastructure":[79,105],"but":[81,107],"also":[82,108],"uses":[83],"Dedicated":[84],"Short":[85],"Range":[86,139],"Communication":[87],"(DSRC).":[88],"This":[89],"goes":[91],"further":[92,166],"direction":[95],"complete":[98],"V2X":[99],"solution":[100],"involving":[103],"neighbouring":[110],"DSRC":[112,134,138],"has":[113],"been":[114],"increasingly":[115],"incorporated":[116],"all":[118],"modern":[121],"Better":[123],"state":[124],"estimation":[125],"achieved":[127],"by":[128],"formulating":[129],"range":[131],"information":[132],"from":[133],"as":[135],"Graph.":[144],"Simulations":[145],"indicate":[146],"better":[147],"performance":[148],"over":[149],"previously":[151],"proposed":[152],"using":[156],"SME":[157],"Graph,":[161],"thereby":[162],"progressing":[163],"step":[165],"towards":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}