{"id":"https://openalex.org/W2587290529","doi":"https://doi.org/10.1109/sii.2016.7844019","title":"Detection and state estimation of moving objects on a moving base for indoor navigation","display_name":"Detection and state estimation of moving objects on a moving base for indoor navigation","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2587290529","doi":"https://doi.org/10.1109/sii.2016.7844019","mag":"2587290529"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2016.7844019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2016.7844019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/SICE International Symposium on System Integration (SII)","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/A5100359486","display_name":"Hao Sun","orcid":"https://orcid.org/0000-0003-0189-1784"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Hao Sun","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073040585","display_name":"Zehui Meng","orcid":"https://orcid.org/0000-0002-7276-6844"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zehui Meng","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074904348","display_name":"Xiaotong Shen","orcid":"https://orcid.org/0000-0003-1300-1451"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiaotong Shen","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100359486"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":16.2129,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.9869335,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"325","last_page":"330"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9991999864578247,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7492150068283081},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7412807941436768},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7074174880981445},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.703581690788269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6910790801048279},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6423056125640869},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5826197266578674},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5341370105743408},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5322957038879395},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.48831793665885925},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.48068174719810486},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.44966402649879456},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.43781739473342896},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.4223957359790802},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.26190185546875},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1308613419532776},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12649112939834595}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7492150068283081},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7412807941436768},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7074174880981445},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.703581690788269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6910790801048279},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6423056125640869},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5826197266578674},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5341370105743408},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5322957038879395},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.48831793665885925},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.48068174719810486},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.44966402649879456},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.43781739473342896},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.4223957359790802},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26190185546875},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1308613419532776},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12649112939834595},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2016.7844019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2016.7844019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/SICE International Symposium on System Integration (SII)","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":24,"referenced_works":["https://openalex.org/W1494861277","https://openalex.org/W1499877760","https://openalex.org/W1968034339","https://openalex.org/W2062396579","https://openalex.org/W2071598318","https://openalex.org/W2074658631","https://openalex.org/W2086921140","https://openalex.org/W2093488518","https://openalex.org/W2093542995","https://openalex.org/W2102625004","https://openalex.org/W2119417818","https://openalex.org/W2122423951","https://openalex.org/W2142321844","https://openalex.org/W2142520630","https://openalex.org/W2152864241","https://openalex.org/W2157468226","https://openalex.org/W2157664516","https://openalex.org/W2163943109","https://openalex.org/W2758865597","https://openalex.org/W2998023265","https://openalex.org/W3003662786","https://openalex.org/W3211330693","https://openalex.org/W6680574365","https://openalex.org/W6772576394"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,23,50,133,154],"method":[4],"for":[5,61,86,181,198],"detection":[6,98],"and":[7,38,56,64,72,99,120,128,153,168,177,184],"trajectory":[8,100],"estimation":[9,101],"of":[10,22,30,102,149,170],"moving":[11,54,103,172,185],"objects":[12,34,104,139,173],"such":[13,35],"as":[14,36],"walking":[15],"humans":[16,37,55],"to":[17,69],"achieve":[18,97],"efficient":[19,87],"indoor":[20,91],"navigation":[21,88],"mobile":[24,79],"manipulator.":[25],"Mobile":[26],"manipulation":[27],"requires":[28],"interactions":[29],"the":[31,106,118,121,150,164,171],"robot":[32,51,107,196],"with":[33,93,142],"robots,":[39,57],"which":[40,82],"are":[41,140,174],"usually":[42],"in":[43,67,89,112,125],"motion,":[44,113],"thus":[45],"it":[46,129],"is":[47,83,110,123,130],"important":[48],"that":[49],"can":[52,178],"detect":[53],"estimate":[58],"their":[59,143],"trajectories":[60,169],"collision":[62],"avoidance":[63],"path":[65,182],"planning":[66,183],"order":[68],"improve":[70],"safety":[71],"travel":[73],"efficiency.":[74],"We":[75],"introduce":[76],"our":[77,126,195],"omni-directional":[78],"robotics":[80],"system":[81,190],"specially":[84],"designed":[85],"cluttered":[90],"environments":[92],"narrow":[94],"passages.":[95],"To":[96],"while":[105],"base":[108,119,197],"itself":[109],"also":[111,175],"relative":[114],"position":[115],"information":[116],"between":[117],"world":[122],"necessary":[124],"algorithm":[127,156],"obtained":[131],"by":[132,147,161],"proposed":[134,155],"robust":[135],"fused":[136,151],"odometry.":[137],"Moving":[138],"detected":[141],"3D":[144],"bounding":[145],"boxes":[146],"integration":[148],"odometry":[152],"using":[157],"point":[158],"cloud":[159],"captured":[160],"Kinect.":[162],"At":[163],"same":[165],"time,":[166],"velocities":[167],"estimated":[176],"be":[179],"used":[180],"obstacle":[186],"avoidance.":[187],"The":[188],"overall":[189],"has":[191],"been":[192],"implemented":[193],"on":[194],"real":[199],"practice.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":3}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
