{"id":"https://openalex.org/W3126837140","doi":"https://doi.org/10.1109/tits.2020.3046497","title":"A Train Positioning Method Based-On Vision and Millimeter-Wave Radar Data Fusion","display_name":"A Train Positioning Method Based-On Vision and Millimeter-Wave Radar Data Fusion","publication_year":2021,"publication_date":"2021-02-03","ids":{"openalex":"https://openalex.org/W3126837140","doi":"https://doi.org/10.1109/tits.2020.3046497","mag":"3126837140"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2020.3046497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.3046497","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/A5062986362","display_name":"Zhangyu Wang","orcid":"https://orcid.org/0000-0001-9546-7655"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangyu Wang","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, School of Transportation Science and Engineering, Ministry of Industry and Information Technology, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9546-7655","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, School of Transportation Science and Engineering, Ministry of Industry and Information Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038183961","display_name":"Guizhen Yu","orcid":"https://orcid.org/0000-0001-8374-7422"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guizhen Yu","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, School of Transportation Science and Engineering, Ministry of Industry and Information Technology, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8374-7422","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, School of Transportation Science and Engineering, Ministry of Industry and Information Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049016575","display_name":"Bin Zhou","orcid":"https://orcid.org/0000-0002-1141-5557"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Zhou","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, School of Transportation Science and Engineering, Ministry of Industry and Information Technology, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1141-5557","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, School of Transportation Science and Engineering, Ministry of Industry and Information Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100441269","display_name":"Pengcheng Wang","orcid":"https://orcid.org/0000-0001-6395-4870"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengcheng Wang","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, School of Transportation Science and Engineering, Ministry of Industry and Information Technology, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, School of Transportation Science and Engineering, Ministry of Industry and Information Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039406844","display_name":"Xinkai Wu","orcid":"https://orcid.org/0000-0003-4238-0243"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinkai Wu","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, School of Transportation Science and Engineering, Ministry of Industry and Information Technology, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, School of Transportation Science and Engineering, Ministry of Industry and Information Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9739,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.91746078,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"23","issue":"5","first_page":"4603","last_page":"4613"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10842","display_name":"Railway Engineering and Dynamics","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9854000210762024,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8395570516586304},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5762671828269958},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5579767823219299},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5340584516525269},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4735787808895111},{"id":"https://openalex.org/keywords/extremely-high-frequency","display_name":"Extremely high frequency","score":0.455637127161026},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4542333781719208},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4052636921405792},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3391563296318054},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15888741612434387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1435604989528656},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1410556137561798}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8395570516586304},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5762671828269958},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5579767823219299},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5340584516525269},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4735787808895111},{"id":"https://openalex.org/C45764600","wikidata":"https://www.wikidata.org/wiki/Q570342","display_name":"Extremely high frequency","level":2,"score":0.455637127161026},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4542333781719208},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4052636921405792},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3391563296318054},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15888741612434387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1435604989528656},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1410556137561798}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2020.3046497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.3046497","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2486791504","display_name":null,"funder_award_id":"#L191002","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G3252384534","display_name":"\u57fa\u4e8e\u591a\u4f20\u611f\u5668\u878d\u5408\u7684\u57ce\u8f68\u5217\u8f66\u9ad8\u7cbe\u5ea6\u73af\u5883\u611f\u77e5\u6280\u672f\u7814\u7a76","funder_award_id":"52072020","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1989484209","https://openalex.org/W1995957864","https://openalex.org/W1998886892","https://openalex.org/W2008849352","https://openalex.org/W2016289989","https://openalex.org/W2021278996","https://openalex.org/W2038411731","https://openalex.org/W2055001855","https://openalex.org/W2071086149","https://openalex.org/W2079767902","https://openalex.org/W2097820246","https://openalex.org/W2108598243","https://openalex.org/W2117228865","https://openalex.org/W2136823933","https://openalex.org/W2155893237","https://openalex.org/W2164168422","https://openalex.org/W2194775991","https://openalex.org/W2508522638","https://openalex.org/W2514362962","https://openalex.org/W2528148268","https://openalex.org/W2565316591","https://openalex.org/W2750627398","https://openalex.org/W2766144513","https://openalex.org/W2781561575","https://openalex.org/W2785901219","https://openalex.org/W2794701478","https://openalex.org/W2796096089","https://openalex.org/W2806585810","https://openalex.org/W2846232485","https://openalex.org/W2884968643","https://openalex.org/W2890051265","https://openalex.org/W2903168818","https://openalex.org/W2903638288","https://openalex.org/W2908621290","https://openalex.org/W2940991315","https://openalex.org/W2947045050","https://openalex.org/W2963163009","https://openalex.org/W2965126822","https://openalex.org/W2968738723","https://openalex.org/W2979651401","https://openalex.org/W2985031189","https://openalex.org/W2991954096","https://openalex.org/W2995865482","https://openalex.org/W3003768717","https://openalex.org/W3005455080","https://openalex.org/W3015066700","https://openalex.org/W3102617634","https://openalex.org/W6737664043"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W2123881033","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2787146399","https://openalex.org/W2111152968","https://openalex.org/W4366504120","https://openalex.org/W2369026988"],"abstract_inverted_index":{"Accurate":[0],"train":[1,6,14,65,83,130],"positioning":[2,15,131],"is":[3,133],"crucial":[4],"for":[5],"safety.":[7],"In":[8],"this":[9],"paper,":[10],"we":[11],"propose":[12],"a":[13,64],"method":[16,26,118,132,138],"which":[17],"fuses":[18,42],"vison":[19],"and":[20,34,49,72,112,123],"millimeter-wave":[21,70],"radar":[22],"data.":[23],"The":[24,37,59],"proposed":[25,98,129,137],"contains":[27],"two":[28],"parts:":[29],"loop":[30,38,77,99],"closure":[31,39,78,100],"detection":[32,40,79,101,108,117],"(LCD)":[33],"radar-based":[35,60],"odometry.":[36],"part":[41,62],"the":[43,50,74,88,115,120,124,128,136,143],"convolutional":[44],"neural":[45],"network":[46],"(CNN)":[47],"features":[48,52],"line":[51,94],"to":[53,80],"achieve":[54,103],"accurate":[55],"key":[56,106],"location":[57,107],"detection.":[58],"odometry":[61],"proposes":[63],"speed":[66,116],"measurement":[67],"algorithm":[68],"using":[69],"radar,":[71],"combines":[73],"results":[75],"of":[76,127],"further":[81],"realize":[82],"positioning.":[84],"Experiments":[85],"conducted":[86],"on":[87,142],"Hong":[89,144],"Kong":[90,145],"metro":[91],"Tsuen":[92],"Wan":[93],"show":[95],"that":[96],"our":[97],"can":[102],"an":[104],"efficient":[105],"with":[109],"98.57%":[110],"precision":[111],"99.37%":[113],"recall;":[114],"fulfills":[119],"ETCS":[121],"requirements;":[122],"relative":[125],"error":[126],"0.45%.":[134],"Besides,":[135],"has":[139],"been":[140],"applied":[141],"Metro":[146],"TSUEN":[147],"WAN":[148],"line.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":2}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
