{"id":"https://openalex.org/W2344923532","doi":"https://doi.org/10.1109/tie.2016.2521346","title":"Robust Vision-Based Relative-Localization Approach Using an RGB-Depth Camera and LiDAR Sensor Fusion","display_name":"Robust Vision-Based Relative-Localization Approach Using an RGB-Depth Camera and LiDAR Sensor Fusion","publication_year":2016,"publication_date":"2016-01-25","ids":{"openalex":"https://openalex.org/W2344923532","doi":"https://doi.org/10.1109/tie.2016.2521346","mag":"2344923532"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2016.2521346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2521346","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-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/A5101522371","display_name":"Haryong Song","orcid":"https://orcid.org/0000-0002-2542-9992"},"institutions":[{"id":"https://openalex.org/I2800747041","display_name":"Korea Aerospace Research Institute","ror":"https://ror.org/037pqnq23","country_code":"KR","type":"funder","lineage":["https://openalex.org/I2800747041","https://openalex.org/I2801339556","https://openalex.org/I4387152098","https://openalex.org/I4412460384"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Haryong Song","raw_affiliation_strings":["Korea Aerospace Research Institute, Daejeon, 34133, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Aerospace Research Institute, Daejeon, 34133, Korea","institution_ids":["https://openalex.org/I2800747041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014127859","display_name":"Won-Sub Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I2800747041","display_name":"Korea Aerospace Research Institute","ror":"https://ror.org/037pqnq23","country_code":"KR","type":"funder","lineage":["https://openalex.org/I2800747041","https://openalex.org/I2801339556","https://openalex.org/I4387152098","https://openalex.org/I4412460384"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wonsub Choi","raw_affiliation_strings":["Korea Aerospace Research Institute, Daejeon, 34133, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Aerospace Research Institute, Daejeon, 34133, Korea","institution_ids":["https://openalex.org/I2800747041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065589440","display_name":"Hae\u2010Dong Kim","orcid":"https://orcid.org/0000-0001-9772-0562"},"institutions":[{"id":"https://openalex.org/I2800747041","display_name":"Korea Aerospace Research Institute","ror":"https://ror.org/037pqnq23","country_code":"KR","type":"funder","lineage":["https://openalex.org/I2800747041","https://openalex.org/I2801339556","https://openalex.org/I4387152098","https://openalex.org/I4412460384"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Haedong Kim","raw_affiliation_strings":["Korea Aerospace Research Institute, Daejeon, 34133, Korea"],"affiliations":[{"raw_affiliation_string":"Korea Aerospace Research Institute, Daejeon, 34133, Korea","institution_ids":["https://openalex.org/I2800747041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101522371"],"corresponding_institution_ids":["https://openalex.org/I2800747041"],"apc_list":null,"apc_paid":null,"fwci":23.6567,"has_fulltext":false,"cited_by_count":114,"citation_normalized_percentile":{"value":0.99491577,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"63","issue":"6","first_page":"3725","last_page":"3736"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8352258205413818},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8146212100982666},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7766993641853333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6571639776229858},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6441203951835632},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6284252405166626},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.505608081817627},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.47222900390625},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.46223148703575134},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.4599100947380066},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.2528548836708069},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2160845696926117},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17494744062423706}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8352258205413818},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8146212100982666},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7766993641853333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6571639776229858},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6441203951835632},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6284252405166626},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.505608081817627},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.47222900390625},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.46223148703575134},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.4599100947380066},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.2528548836708069},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2160845696926117},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17494744062423706},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2016.2521346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2521346","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322114","display_name":"Korea Aerospace Research Institute","ror":"https://ror.org/037pqnq23"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1502024436","https://openalex.org/W1531069015","https://openalex.org/W1589504938","https://openalex.org/W1630582000","https://openalex.org/W1985756309","https://openalex.org/W1986600281","https://openalex.org/W1993327453","https://openalex.org/W2033819227","https://openalex.org/W2036470408","https://openalex.org/W2047448918","https://openalex.org/W2060106676","https://openalex.org/W2064435108","https://openalex.org/W2083081493","https://openalex.org/W2089995260","https://openalex.org/W2095328562","https://openalex.org/W2124211486","https://openalex.org/W2125907508","https://openalex.org/W2130457323","https://openalex.org/W2133505209","https://openalex.org/W2134019518","https://openalex.org/W2137504719","https://openalex.org/W2144150874","https://openalex.org/W2153749463","https://openalex.org/W2154074205","https://openalex.org/W2161969291","https://openalex.org/W2162117114","https://openalex.org/W2164598857","https://openalex.org/W2168270909","https://openalex.org/W2317949355","https://openalex.org/W2333211553","https://openalex.org/W2943872985","https://openalex.org/W3021282624","https://openalex.org/W3144249121","https://openalex.org/W3157685993","https://openalex.org/W3175704354","https://openalex.org/W6631884009","https://openalex.org/W6678512814","https://openalex.org/W6680028861"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4308259661","https://openalex.org/W4390813131","https://openalex.org/W2349383066","https://openalex.org/W3102673927","https://openalex.org/W2327954668","https://openalex.org/W2118061264"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,9,33,56,70,140,152,180],"robust":[4,161],"vision-based":[5],"relative-localization":[6],"approach":[7,159,173],"for":[8,139],"moving":[10],"target":[11,57,141],"based":[12],"on":[13],"an":[14,44,91,101],"RGB-depth":[15],"(RGB-D)":[16],"camera":[17,46],"and":[18,26,37,47,69,85,100,129,196],"sensor":[19],"measurements":[20,122,138],"from":[21,109,126,179],"two-dimensional":[22],"(2-D)":[23],"light":[24,67],"detection":[25],"ranging":[27],"(LiDAR).":[28],"With":[29],"the":[30,53,65,168,185,194,199],"proposed":[31,158,172,200],"approach,":[32],"target's":[34],"three-dimensional":[35],"(3-D)":[36],"2-D":[38,80,117],"position":[39,177],"information":[40,63],"is":[41],"measured":[42],"with":[43,106,146],"RGB-D":[45],"LiDAR":[48,118,136],"sensor,":[49,68],"respectively,":[50],"to":[51,176],"find":[52],"location":[54,81,121,137],"of":[55,64,167,190,198],"by":[58,123],"incorporating":[59],"visual-tracking":[60],"algorithms,":[61],"depth":[62,113,130],"structured":[66],"low-level":[71],"vision-LiDAR":[72],"fusion":[73,155],"algorithm,":[74],"e.g.,":[75],"extrinsic":[76],"calibration.":[77],"To":[78,144],"produce":[79],"measurements,":[82,149],"both":[83,127],"visual-":[84],"depth-tracking":[86],"approaches":[87],"are":[88,142],"introduced,":[89],"utilizing":[90],"adaptive":[92],"color-based":[93],"particle":[94],"filter":[95],"(ACPF)":[96],"(for":[97,112],"visual":[98,128],"tracking)":[99],"interacting":[102],"multiple-model":[103],"(IMM)":[104],"estimator":[105],"intermittent":[107],"observations":[108],"depth-image":[110],"segmentation":[111],"image":[114],"tracking).":[115],"The":[116,157,171,188],"data":[119,178],"enhance":[120],"replacing":[124],"results":[125,189],"tracking;":[131],"through":[132],"this":[133,191],"procedure,":[134],"multiple":[135],"generated.":[143],"deal":[145],"these":[147],"multiple-location":[148],"we":[150],"propose":[151],"modified":[153],"track-to-track":[154],"scheme.":[156],"shows":[160],"localization":[162],"results,":[163],"even":[164],"when":[165],"one":[166],"trackers":[169],"fails.":[170],"was":[174],"compared":[175],"Vicon":[181],"motion-capture":[182],"system":[183],"as":[184],"ground":[186],"truth.":[187],"evaluation":[192],"demonstrate":[193],"superiority":[195],"robustness":[197],"approach.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}