{"id":"https://openalex.org/W2171956876","doi":"https://doi.org/10.1109/robot.2009.5152610","title":"Ground plane velocity estimation embedding rectification on a particle filter multi-target tracking","display_name":"Ground plane velocity estimation embedding rectification on a particle filter multi-target tracking","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2171956876","doi":"https://doi.org/10.1109/robot.2009.5152610","mag":"2171956876"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5015721032","display_name":"H\u00e9lio Palaio","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"H. Palaio","raw_affiliation_strings":["ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111994527","display_name":"Cristina Maduro","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"C. Maduro","raw_affiliation_strings":["ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072524392","display_name":"Kate K.S. Batista","orcid":"https://orcid.org/0000-0002-5861-4633"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"K. Batista","raw_affiliation_strings":["ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045422006","display_name":"Jorge Batista","orcid":"https://orcid.org/0000-0003-2387-5961"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"J. Batista","raw_affiliation_strings":["ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"825","last_page":"830"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998999834060669,"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/T10331","display_name":"Video Surveillance and Tracking Methods","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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9987000226974487,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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/clutter","display_name":"Clutter","score":0.8859548568725586},{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.8001666069030762},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.7897157073020935},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.7646855115890503},{"id":"https://openalex.org/keywords/rectification","display_name":"Rectification","score":0.7531495690345764},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.7316585183143616},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7102388143539429},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6582143306732178},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5419141054153442},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5224767923355103},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.47322288155555725},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.46713900566101074},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.4501506984233856},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.281059205532074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25413820147514343},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25333696603775024},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13923615217208862},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.10521528124809265},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07135465741157532}],"concepts":[{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.8859548568725586},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.8001666069030762},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7897157073020935},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.7646855115890503},{"id":"https://openalex.org/C50942859","wikidata":"https://www.wikidata.org/wiki/Q4967193","display_name":"Rectification","level":3,"score":0.7531495690345764},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.7316585183143616},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7102388143539429},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6582143306732178},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5419141054153442},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5224767923355103},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.47322288155555725},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.46713900566101074},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.4501506984233856},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.281059205532074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25413820147514343},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25333696603775024},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13923615217208862},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.10521528124809265},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07135465741157532},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1483307070","https://openalex.org/W1549083695","https://openalex.org/W1983496390","https://openalex.org/W2068356831","https://openalex.org/W2075346817","https://openalex.org/W2110744759","https://openalex.org/W2118002377","https://openalex.org/W2122487083","https://openalex.org/W2144513431","https://openalex.org/W2160337655","https://openalex.org/W2163516988","https://openalex.org/W2165797462","https://openalex.org/W2166563909","https://openalex.org/W2537883847","https://openalex.org/W3023501095"],"related_works":["https://openalex.org/W2355499516","https://openalex.org/W3174480258","https://openalex.org/W3210974833","https://openalex.org/W2599000612","https://openalex.org/W2130674020","https://openalex.org/W2811475781","https://openalex.org/W2093748878","https://openalex.org/W2094246381","https://openalex.org/W2333771223","https://openalex.org/W2361137193"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"integrated":[4],"solution":[5],"for":[6],"vehicle's":[7],"velocity":[8],"estimation":[9],"and":[10],"vehicle":[11],"counting.":[12],"The":[13,44],"proposed":[14,53],"restores":[15],"the":[16,33,47,50],"scene":[17],"geometric":[18],"properties,":[19],"building":[20],"a":[21,40],"ground":[22],"plane":[23],"rectified":[24],"image.":[25],"Moreover,":[26],"multiple":[27],"vehicles":[28],"tracking":[29],"is":[30],"performed":[31],"embedding":[32],"concept":[34],"of":[35,49],"region":[36],"covariance":[37],"descriptors":[38],"in":[39,54],"particle":[41],"filter":[42],"framework.":[43],"results":[45],"show":[46],"effectiveness":[48],"approach":[51],"here":[52],"very":[55],"clutter":[56],"scenes.":[57]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}