{"id":"https://openalex.org/W2543236603","doi":"https://doi.org/10.1109/tits.2016.2616718","title":"A Combined Voxel and Particle Filter-Based Approach for Fast Obstacle Detection and Tracking in Automotive Applications","display_name":"A Combined Voxel and Particle Filter-Based Approach for Fast Obstacle Detection and Tracking in Automotive Applications","publication_year":2016,"publication_date":"2016-10-31","ids":{"openalex":"https://openalex.org/W2543236603","doi":"https://doi.org/10.1109/tits.2016.2616718","mag":"2543236603"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2016.2616718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2016.2616718","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5044661606","display_name":"N\u00e9stor Morales","orcid":"https://orcid.org/0000-0002-0051-7283"},"institutions":[{"id":"https://openalex.org/I158438070","display_name":"Universidad de La Laguna","ror":"https://ror.org/01r9z8p25","country_code":"ES","type":"education","lineage":["https://openalex.org/I158438070"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Nestor Morales","raw_affiliation_strings":["Departamento de Ingenier\u00eda Inform\u00e1tica, University of La Laguna, Santa Cruz de Tenerife, Spain"],"raw_orcid":"https://orcid.org/0000-0002-0051-7283","affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda Inform\u00e1tica, University of La Laguna, Santa Cruz de Tenerife, Spain","institution_ids":["https://openalex.org/I158438070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088389031","display_name":"Jonay Toledo","orcid":"https://orcid.org/0000-0003-2789-4799"},"institutions":[{"id":"https://openalex.org/I158438070","display_name":"Universidad de La Laguna","ror":"https://ror.org/01r9z8p25","country_code":"ES","type":"education","lineage":["https://openalex.org/I158438070"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jonay Toledo","raw_affiliation_strings":["Departamento de Ingenier\u00eda Inform\u00e1tica, University of La Laguna, Santa Cruz de Tenerife, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda Inform\u00e1tica, University of La Laguna, Santa Cruz de Tenerife, Spain","institution_ids":["https://openalex.org/I158438070"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Leopoldo Acosta","orcid":null},"institutions":[{"id":"https://openalex.org/I158438070","display_name":"Universidad de La Laguna","ror":"https://ror.org/01r9z8p25","country_code":"ES","type":"education","lineage":["https://openalex.org/I158438070"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Leopoldo Acosta","raw_affiliation_strings":["Departamento de Ingenier\u00eda Inform\u00e1tica, University of La Laguna, Santa Cruz de Tenerife, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda Inform\u00e1tica, University of La Laguna, Santa Cruz de Tenerife, Spain","institution_ids":["https://openalex.org/I158438070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020491055","display_name":"Javier Medina","orcid":"https://orcid.org/0000-0003-2530-3182"},"institutions":[{"id":"https://openalex.org/I119635470","display_name":"Universidad de Las Palmas de Gran Canaria","ror":"https://ror.org/01teme464","country_code":"ES","type":"education","lineage":["https://openalex.org/I119635470"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Sanchez-Medina","raw_affiliation_strings":["Centro de Innovaci\u00f3n para la Sociedad de la Informaci\u00f3n, University of Las Palmas de Gran Canaria, Las Palmas, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Innovaci\u00f3n para la Sociedad de la Informaci\u00f3n, University of Las Palmas de Gran Canaria, Las Palmas, Spain","institution_ids":["https://openalex.org/I119635470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8422,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.78995604,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"18","issue":"7","first_page":"1824","last_page":"1834"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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-vision","display_name":"Computer vision","score":0.7817246913909912},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7382081747055054},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7297043204307556},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7002646327018738},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6988230347633362},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5893824100494385},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.577191174030304},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5507373809814453},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.539187490940094},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5390626192092896},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5172282457351685},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.4962177872657776},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.432756245136261},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.41165101528167725},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17634639143943787},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12414208054542542}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7817246913909912},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7382081747055054},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7297043204307556},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7002646327018738},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6988230347633362},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5893824100494385},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.577191174030304},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5507373809814453},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.539187490940094},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5390626192092896},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5172282457351685},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.4962177872657776},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.432756245136261},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.41165101528167725},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17634639143943787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12414208054542542},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2016.2616718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2016.2616718","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:accedacris.ulpgc.es:10553/35697","is_oa":false,"landing_page_url":"http://hdl.handle.net/10553/35697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400136","display_name":"Acceda (Universidad de Las Palmas de Gran Canaria)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems[ISSN 1524-9050],v. 18 (7725942), p. 1824-1834","raw_type":"info:eu-repo/semantics/Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1879528508","display_name":null,"funder_award_id":"DPI2013-46897-C2-1-R","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"}],"funders":[{"id":"https://openalex.org/F4320321837","display_name":"Ministerio de Econom\u00eda y Competitividad","ror":"https://ror.org/034900433"},{"id":"https://openalex.org/F4320324671","display_name":"Agencia Canaria de Investigaci\u00f3n, Innovaci\u00f3n y Sociedad de la Informaci\u00f3n","ror":"https://ror.org/01eeqch44"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W46659105","https://openalex.org/W100686880","https://openalex.org/W337597748","https://openalex.org/W1601541057","https://openalex.org/W1674505557","https://openalex.org/W1912649600","https://openalex.org/W1946609740","https://openalex.org/W1976511700","https://openalex.org/W1989262094","https://openalex.org/W2004641798","https://openalex.org/W2008925116","https://openalex.org/W2012313888","https://openalex.org/W2020209171","https://openalex.org/W2034568545","https://openalex.org/W2036544614","https://openalex.org/W2043627623","https://openalex.org/W2047286693","https://openalex.org/W2048605796","https://openalex.org/W2048960138","https://openalex.org/W2074658631","https://openalex.org/W2076010189","https://openalex.org/W2078036165","https://openalex.org/W2081780340","https://openalex.org/W2089592081","https://openalex.org/W2097853086","https://openalex.org/W2098699644","https://openalex.org/W2100138625","https://openalex.org/W2111644456","https://openalex.org/W2117437159","https://openalex.org/W2122088301","https://openalex.org/W2125994488","https://openalex.org/W2128357735","https://openalex.org/W2137017911","https://openalex.org/W2140836349","https://openalex.org/W2143324623","https://openalex.org/W2150183285","https://openalex.org/W2150298366","https://openalex.org/W2154912862","https://openalex.org/W2161337244","https://openalex.org/W2163943109","https://openalex.org/W2164052752","https://openalex.org/W2165065922","https://openalex.org/W2168356304","https://openalex.org/W2168676389","https://openalex.org/W2198430218","https://openalex.org/W2221552518","https://openalex.org/W2222132570","https://openalex.org/W2275099441","https://openalex.org/W2328476932","https://openalex.org/W2532516272","https://openalex.org/W4233756358","https://openalex.org/W4250735956","https://openalex.org/W6602002561","https://openalex.org/W6635922369","https://openalex.org/W6640185247","https://openalex.org/W6659569821","https://openalex.org/W6677999991","https://openalex.org/W6694465780"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W2787146399","https://openalex.org/W4390187686","https://openalex.org/W2111152968","https://openalex.org/W4402177855"],"abstract_inverted_index":{"In":[0,29,142],"this":[1,30],"paper,":[2],"a":[3,18,32,43,50,59,130,158,161],"new":[4],"method":[5,96],"for":[6,118],"real-time":[7,138],"detection,":[8,64],"motion":[9,51,67],"estimation,":[10],"and":[11,22,49,61,69,97,107,137,160,163],"tracking":[12,106],"of":[13,34,56,84,88,94,121,153],"generic":[14],"obstacles":[15],"using":[16,39,157],"just":[17],"3-D":[19,46],"point":[20,100,166],"cloud":[21],"odometry":[23],"information":[24],"as":[25,168],"input":[26,99],"is":[27,37,147],"presented.":[28],"approach,":[31],"simplification":[33],"the":[35,82,85,92,95,105,119,122,143,151,154],"world":[36],"done":[38],"voxels,":[40],"supported":[41],"by":[42],"particle":[44],"filter-based":[45],"object":[47,63],"segmentation":[48],"estimation":[52],"scheme.":[53],"That":[54],"combination":[55],"techniques":[57],"leverages":[58],"fast":[60],"reliable":[62],"providing":[65],"also":[66],"speed":[68],"direction":[70],"information.":[71],"Four":[72],"detailed":[73],"studies":[74],"have":[75],"been":[76],"performed":[77],"in":[78],"order":[79],"to":[80,91,149],"assess":[81],"suitability":[83],"method,":[86,155],"two":[87],"them":[89],"related":[90],"parameterization":[93],"its":[98],"cloud.":[101],"Another":[102],"one":[103],"compares":[104],"detection":[108,132],"results":[109],"with":[110,129],"other":[111],"state-of-the-art":[112],"methods.":[113],"Last":[114],"tests":[115],"are":[116,127],"intended":[117],"characterization":[120],"execution":[123],"times":[124],"required.":[125],"Results":[126],"encouraging,":[128],"high":[131],"rate,":[133,136],"low":[134],"error":[135],"capable":[139],"computing":[140],"performance.":[141],"attached":[144],"video,":[145],"it":[146],"possible":[148],"observe":[150],"behavior":[152],"both":[156],"stereovision":[159],"light-detection":[162],"ranging":[164],"generated":[165],"clouds":[167],"an":[169],"input.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":4}],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2025-10-10T00:00:00"}