{"id":"https://openalex.org/W3096527766","doi":"https://doi.org/10.1109/mfi49285.2020.9235217","title":"Semantic Evidential Grid Mapping based on Stereo Vision","display_name":"Semantic Evidential Grid Mapping based on Stereo Vision","publication_year":2020,"publication_date":"2020-09-14","ids":{"openalex":"https://openalex.org/W3096527766","doi":"https://doi.org/10.1109/mfi49285.2020.9235217","mag":"3096527766"},"language":"en","primary_location":{"id":"doi:10.1109/mfi49285.2020.9235217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi49285.2020.9235217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5071821634","display_name":"Sven Richter","orcid":"https://orcid.org/0000-0002-5429-4476"},"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":true,"raw_author_name":"Sven Richter","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016654339","display_name":"Johannes Beck","orcid":"https://orcid.org/0000-0003-3624-0535"},"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":"Johannes Beck","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070078683","display_name":"Sascha Wirges","orcid":"https://orcid.org/0009-0003-3316-4140"},"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":"Sascha Wirges","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"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":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071821634"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":0.5887,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.70015459,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"179","last_page":"184"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9994000196456909,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.739791214466095},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.7303743362426758},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6486719846725464},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.6169567704200745},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6040176153182983},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5709906816482544},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.5631970763206482},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.5032603144645691},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.49844813346862793},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.4753655791282654},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.42078205943107605},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.338815301656723},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1333683431148529},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10426285862922668},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09897568821907043}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.739791214466095},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.7303743362426758},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6486719846725464},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.6169567704200745},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6040176153182983},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5709906816482544},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.5631970763206482},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.5032603144645691},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.49844813346862793},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4753655791282654},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.42078205943107605},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.338815301656723},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1333683431148529},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10426285862922668},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09897568821907043},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mfi49285.2020.9235217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi49285.2020.9235217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W161578567","https://openalex.org/W1555420172","https://openalex.org/W1904656733","https://openalex.org/W1981024989","https://openalex.org/W1999050017","https://openalex.org/W2001875386","https://openalex.org/W2089592081","https://openalex.org/W2115236645","https://openalex.org/W2165736859","https://openalex.org/W2216980943","https://openalex.org/W2254014057","https://openalex.org/W2340897893","https://openalex.org/W2797148637","https://openalex.org/W2804099556","https://openalex.org/W2806340142","https://openalex.org/W2890003176","https://openalex.org/W2908141607","https://openalex.org/W2945081552","https://openalex.org/W2963440325","https://openalex.org/W3011653528","https://openalex.org/W3100744475","https://openalex.org/W4301347335","https://openalex.org/W6606543600","https://openalex.org/W6688741334","https://openalex.org/W6762233887"],"related_works":["https://openalex.org/W4387123528","https://openalex.org/W2055794451","https://openalex.org/W2125554789","https://openalex.org/W2066544588","https://openalex.org/W2019136754","https://openalex.org/W599788249","https://openalex.org/W2806340142","https://openalex.org/W2125220577","https://openalex.org/W2510414167","https://openalex.org/W1538887534"],"abstract_inverted_index":{"Accurately":[0],"estimating":[1],"the":[2,36,82,94,97,116],"current":[3],"state":[4],"of":[5,13,81],"local":[6],"traffic":[7,24,132],"scenes":[8],"is":[9,86,123],"a":[10,48,61,110],"crucial":[11],"component":[12],"automated":[14],"vehicles.":[15],"The":[16,78,120],"desired":[17],"representation":[18],"may":[19],"include":[20,43],"static":[21],"and":[22,30,104],"dynamic":[23],"participants,":[25],"details":[26],"on":[27,35,125],"free":[28],"space":[29],"drivability,":[31],"but":[32],"also":[33],"information":[34,46],"semantics.":[37],"Multi-layer":[38],"grid":[39,65,98],"maps":[40],"allow":[41],"to":[42,59,96],"all":[44],"these":[45],"in":[47,115,129],"common":[49],"representation.":[50],"In":[51],"this":[52],"work,":[53],"we":[54],"present":[55],"an":[56],"improved":[57],"method":[58,122],"estimate":[60],"semantic":[62],"evidential":[63],"multi-layer":[64],"map":[66,99],"using":[67],"depth":[68,83],"from":[69,84,93],"stereo":[70,85],"vision":[71],"paired":[72],"with":[73],"pixel-wise":[74],"semantically":[75],"annotated":[76],"images.":[77],"error":[79],"characteristics":[80],"explicitly":[87],"modeled":[88],"when":[89],"transferring":[90],"pixel":[91],"labels":[92],"image":[95],"space.":[100],"We":[101],"achieve":[102],"accurate":[103],"dense":[105],"mapping":[106],"results":[107],"by":[108],"incorporating":[109],"disparity-based":[111],"ground":[112],"surface":[113],"estimation":[114],"inverse":[117],"perspective":[118],"mapping.":[119],"proposed":[121],"validated":[124],"our":[126],"experimental":[127],"vehicle":[128],"challenging":[130],"urban":[131],"scenarios.":[133]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}