{"id":"https://openalex.org/W3095015721","doi":"https://doi.org/10.1109/mfi49285.2020.9235223","title":"Local and Global Sensors for Collision Avoidance","display_name":"Local and Global Sensors for Collision Avoidance","publication_year":2020,"publication_date":"2020-09-14","ids":{"openalex":"https://openalex.org/W3095015721","doi":"https://doi.org/10.1109/mfi49285.2020.9235223","mag":"3095015721"},"language":"en","primary_location":{"id":"doi:10.1109/mfi49285.2020.9235223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi49285.2020.9235223","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/A5032122029","display_name":"Aquib Rashid","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124503","display_name":"Fraunhofer Institute for Machine Tools and Forming Technology","ror":"https://ror.org/026taa863","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210124503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Aquib Rashid","raw_affiliation_strings":["Fraunhofer IWU, Chemnitz, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IWU, Chemnitz, Germany","institution_ids":["https://openalex.org/I4210124503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066287401","display_name":"Kannan Peesapati","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124503","display_name":"Fraunhofer Institute for Machine Tools and Forming Technology","ror":"https://ror.org/026taa863","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210124503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kannan Peesapati","raw_affiliation_strings":["Fraunhofer IWU, Chemnitz, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IWU, Chemnitz, Germany","institution_ids":["https://openalex.org/I4210124503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087518988","display_name":"Mohamad Bdiwi","orcid":"https://orcid.org/0000-0001-7070-9988"},"institutions":[{"id":"https://openalex.org/I4210124503","display_name":"Fraunhofer Institute for Machine Tools and Forming Technology","ror":"https://ror.org/026taa863","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210124503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mohamad Bdiwi","raw_affiliation_strings":["Fraunhofer IWU, Chemnitz, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IWU, Chemnitz, Germany","institution_ids":["https://openalex.org/I4210124503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014949114","display_name":"Sebastian Krusche","orcid":"https://orcid.org/0000-0003-3558-9751"},"institutions":[{"id":"https://openalex.org/I4210124503","display_name":"Fraunhofer Institute for Machine Tools and Forming Technology","ror":"https://ror.org/026taa863","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210124503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Krusche","raw_affiliation_strings":["Fraunhofer IWU, Chemnitz, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IWU, Chemnitz, Germany","institution_ids":["https://openalex.org/I4210124503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103899184","display_name":"Wolfram Hardt","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124503","display_name":"Fraunhofer Institute for Machine Tools and Forming Technology","ror":"https://ror.org/026taa863","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210124503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Hardt","raw_affiliation_strings":["Fraunhofer IWU, Chemnitz, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IWU, Chemnitz, Germany","institution_ids":["https://openalex.org/I4210124503"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074762067","display_name":"Matthias P\u00fctz","orcid":"https://orcid.org/0000-0001-8101-1286"},"institutions":[{"id":"https://openalex.org/I4210124503","display_name":"Fraunhofer Institute for Machine Tools and Forming Technology","ror":"https://ror.org/026taa863","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210124503","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Putz","raw_affiliation_strings":["Fraunhofer IWU, Chemnitz, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IWU, Chemnitz, Germany","institution_ids":["https://openalex.org/I4210124503"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5032122029"],"corresponding_institution_ids":["https://openalex.org/I4210124503"],"apc_list":null,"apc_paid":null,"fwci":1.4838,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.82428003,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"354","last_page":"359"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.986299991607666,"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/collision-avoidance","display_name":"Collision avoidance","score":0.7971580028533936},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6799347996711731},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6532578468322754},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5981718897819519},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5835188031196594},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5500874519348145},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5058450698852539},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4651796221733093},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4202103614807129},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4193718433380127},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40504443645477295},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3817377984523773},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3627564311027527},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19600600004196167},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1095336377620697},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.09417477250099182},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08780229091644287},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.08726552128791809}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7971580028533936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6799347996711731},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6532578468322754},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5981718897819519},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5835188031196594},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5500874519348145},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5058450698852539},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4651796221733093},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4202103614807129},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4193718433380127},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40504443645477295},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3817377984523773},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3627564311027527},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19600600004196167},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1095336377620697},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.09417477250099182},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08780229091644287},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.08726552128791809},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/mfi49285.2020.9235223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi49285.2020.9235223","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"},{"id":"pmh:oai:fraunhofer.de:N-639406","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-639406.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IWU","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/412302","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/412302","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.4699999988079071,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W30666801","https://openalex.org/W2009921413","https://openalex.org/W2026669106","https://openalex.org/W2034302785","https://openalex.org/W2069766407","https://openalex.org/W2116535574","https://openalex.org/W2129126449","https://openalex.org/W2318055712","https://openalex.org/W2513304997","https://openalex.org/W2773451080","https://openalex.org/W2810519341","https://openalex.org/W2901277730","https://openalex.org/W2925101122","https://openalex.org/W2942692124","https://openalex.org/W2973960840","https://openalex.org/W3004865641"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Implementation":[0],"of":[1,45,68,89],"safe":[2],"and":[3,20,51,70,79,92,122,134,141,146],"efficient":[4],"human":[5],"robot":[6,121,133],"collaboration":[7],"for":[8,100,130],"agile":[9],"production":[10],"cells":[11],"with":[12],"heavy-duty":[13],"industrial":[14,120],"robots,":[15],"having":[16],"large":[17,21,60,75],"stopping":[18],"distances":[19],"self-occlusion":[22],"areas,":[23],"is":[24,30,128],"a":[25,59,65,74,80,123],"challenging":[26],"task.":[27,38],"Collision":[28],"avoidance":[29],"the":[31,87],"main":[32],"functionality":[33,96],"required":[34],"to":[35,107,116],"realize":[36],"this":[37],"In":[39],"fact,":[40],"it":[41],"requires":[42],"accurate":[43],"estimation":[44],"shortest":[46],"distance":[47],"between":[48,103],"known":[49],"(robot)":[50],"unknown":[52,104],"(human":[53],"or":[54],"anything":[55],"else)":[56],"objects":[57],"in":[58,86],"area.":[61],"This":[62],"work":[63],"proposes":[64],"selective":[66],"fusion":[67],"global":[69,147],"local":[71,145],"sensors,":[72],"representing":[73],"range":[76,82],"360\u00b0":[77],"LiDAR":[78],"small":[81],"RGB":[83],"camera":[84],"respectively,":[85],"context":[88],"dynamic":[90,105],"speed":[91],"separation":[93],"monitoring.":[94],"Safety":[95],"has":[97],"been":[98],"evaluated":[99],"collision":[101],"detection":[102],"object":[106],"manipulator":[108],"joints.":[109],"The":[110],"system":[111],"yields":[112],"29-40%":[113],"efficiency":[114,140],"compared":[115],"fenced":[117],"system.":[118],"Heavy-duty":[119],"controlled":[124],"linear":[125],"axis":[126],"dummy":[127],"used":[129],"evaluating":[131],"different":[132],"scenario":[135],"configurations.":[136],"Results":[137],"suggest":[138],"higher":[139],"safety":[142],"when":[143],"using":[144],"setup.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-24T08:02:53.985720","created_date":"2025-10-10T00:00:00"}