{"id":"https://openalex.org/W4404628579","doi":"https://doi.org/10.1109/niles63360.2024.10753230","title":"Advanced Object Tracking in Self-Driving Cars: EKF and UKF Performance Evaluation","display_name":"Advanced Object Tracking in Self-Driving Cars: EKF and UKF Performance Evaluation","publication_year":2024,"publication_date":"2024-10-19","ids":{"openalex":"https://openalex.org/W4404628579","doi":"https://doi.org/10.1109/niles63360.2024.10753230"},"language":"en","primary_location":{"id":"doi:10.1109/niles63360.2024.10753230","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/niles63360.2024.10753230","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 6th Novel Intelligent and Leading Emerging Sciences Conference (NILES)","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":null,"display_name":"Hussam Ragab","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165376","display_name":"October 6 University","ror":"https://ror.org/05y06tg49","country_code":"EG","type":"education","lineage":["https://openalex.org/I4210165376"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Hussam Ragab","raw_affiliation_strings":["October 6 University,Faculty of Engineering,Department of Electronics and Electrical Communication,6th of October City,Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"October 6 University,Faculty of Engineering,Department of Electronics and Electrical Communication,6th of October City,Egypt","institution_ids":["https://openalex.org/I4210165376"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041718445","display_name":"S. Khamis","orcid":"https://orcid.org/0009-0009-1463-0226"},"institutions":[{"id":"https://openalex.org/I21376657","display_name":"Tanta University","ror":"https://ror.org/016jp5b92","country_code":"EG","type":"education","lineage":["https://openalex.org/I21376657"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Salah Khamis","raw_affiliation_strings":["Tanta University,Faculty of Engineering,Department of Electronics and Electrical Communication,Tanta,Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tanta University,Faculty of Engineering,Department of Electronics and Electrical Communication,Tanta,Egypt","institution_ids":["https://openalex.org/I21376657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059681574","display_name":"Sameh A. Napoleon","orcid":"https://orcid.org/0000-0003-2190-3092"},"institutions":[{"id":"https://openalex.org/I21376657","display_name":"Tanta University","ror":"https://ror.org/016jp5b92","country_code":"EG","type":"education","lineage":["https://openalex.org/I21376657"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Sameh A. Napoleon","raw_affiliation_strings":["Tanta University,Faculty of Engineering,Department of Electronics and Electrical Communication,Tanta,Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tanta University,Faculty of Engineering,Department of Electronics and Electrical Communication,Tanta,Egypt","institution_ids":["https://openalex.org/I21376657"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6562,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.71058657,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"25","last_page":"29"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9433000087738037,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9433000087738037,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9316999912261963,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9302999973297119,"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":0.6859560012817383},{"id":"https://openalex.org/keywords/self-driving","display_name":"Self driving","score":0.586919903755188},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5207754969596863},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5173589587211609},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44737330079078674},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.43419748544692993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43164923787117004},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4235073924064636},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.37553828954696655},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.29660293459892273},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2294156551361084},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08634203672409058}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6859560012817383},{"id":"https://openalex.org/C3018391801","wikidata":"https://www.wikidata.org/wiki/Q741490","display_name":"Self driving","level":2,"score":0.586919903755188},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5207754969596863},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5173589587211609},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44737330079078674},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.43419748544692993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43164923787117004},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4235073924064636},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.37553828954696655},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.29660293459892273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2294156551361084},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08634203672409058},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/niles63360.2024.10753230","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/niles63360.2024.10753230","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 6th Novel Intelligent and Leading Emerging Sciences Conference (NILES)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W4285271403","https://openalex.org/W2542007731","https://openalex.org/W2968379562","https://openalex.org/W2091015105","https://openalex.org/W4388689193","https://openalex.org/W2110899030","https://openalex.org/W29633852","https://openalex.org/W2985362983","https://openalex.org/W4327670844"],"abstract_inverted_index":{"Sensor":[0],"fusion":[1,42,66],"offers":[2],"significant":[3],"advantages":[4],"over":[5],"analyzing":[6],"individual":[7],"data":[8,52,62,109],"sources":[9],"separately,":[10],"leveraging":[11],"the":[12,27,46,58,65,85,90,96,119,123,126,157,175,178,182],"complementary":[13],"strengths":[14],"of":[15,23,31,40,48,70,78,89,147,151,177,184],"multiple":[16,24],"sensors":[17,25],"in":[18,57,113,187],"various":[19,129],"applications.":[20,190],"The":[21,60,101,132,149],"use":[22],"enhances":[26],"accuracy":[28,86],"and":[29,50,75,87,95,115],"reliability":[30],"tracking":[32,54,186],"systems.":[33],"This":[34,81],"paper":[35],"proposes":[36],"a":[37],"comparative":[38],"study":[39,102],"multi-sensor":[41],"algorithms,":[43],"focusing":[44],"on":[45],"integration":[47],"radar":[49],"lidar":[51],"for":[53],"dynamic":[55,71],"objects":[56],"environment.":[59],"sensor":[61],"used":[63],"by":[64],"algorithms":[67],"mainly":[68],"consists":[69],"states":[72],"(position,":[73],"velocity,":[74],"additional":[76],"parameters)":[77],"surrounding":[79],"objects.":[80],"work":[82],"specifically":[83],"evaluates":[84],"consistency":[88,150],"Extended":[91],"Kalman":[92,98],"Filter":[93,99],"(EKF)":[94],"Unscented":[97],"(UKF).":[100],"uses":[103],"different":[104],"models,":[105],"incorporating":[106],"angular":[107],"velocity":[108],"from":[110],"radar.":[111],"Implemented":[112],"C++":[114],"visualized":[116],"using":[117,156],"Python,":[118],"results":[120,173],"demonstrate":[121],"that":[122],"UKF":[124,133,179],"outperforms":[125],"EKF":[127],"across":[128],"state":[130],"variables.":[131],"demonstrates":[134],"lower":[135],"Root":[136],"Mean":[137],"Square":[138],"Error":[139],"(RMSE)":[140],"values":[141],"due":[142],"to":[143,167,180],"its":[144],"superior":[145],"handling":[146],"non-linearity.":[148],"both":[152],"filters":[153],"is":[154],"confirmed":[155],"Normalized":[158],"Innovation":[159],"Squared":[160],"(NIS)":[161],"statistic,":[162],"which":[163],"also":[164],"addresses":[165],"how":[166],"deal":[168],"with":[169],"faulty":[170],"data.":[171],"These":[172],"highlight":[174],"potential":[176],"enhance":[181],"precision":[183],"object":[185],"autonomous":[188],"driving":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
