{"id":"https://openalex.org/W2105529373","doi":"https://doi.org/10.1109/tro.2010.2085490","title":"Efficient Unbiased Tracking of Multiple Dynamic Obstacles Under Large Viewpoint Changes","display_name":"Efficient Unbiased Tracking of Multiple Dynamic Obstacles Under Large Viewpoint Changes","publication_year":2010,"publication_date":"2010-11-30","ids":{"openalex":"https://openalex.org/W2105529373","doi":"https://doi.org/10.1109/tro.2010.2085490","mag":"2105529373"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2010.2085490","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2085490","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5034439549","display_name":"Isaac Miller","orcid":null},"institutions":[{"id":"https://openalex.org/I863488634","display_name":"Coherent (United States)","ror":"https://ror.org/031tysd23","country_code":"US","type":"company","lineage":["https://openalex.org/I863488634"]},{"id":"https://openalex.org/I4210161360","display_name":"Institute of Navigation","ror":"https://ror.org/05rmpy443","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210161360"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Isaac Miller","raw_affiliation_strings":["Coherent Navigation, Inc., San Mateo, CA, USA","Coherent Navig., Inc., San Mateo, CA, USA"],"affiliations":[{"raw_affiliation_string":"Coherent Navigation, Inc., San Mateo, CA, USA","institution_ids":["https://openalex.org/I4210161360"]},{"raw_affiliation_string":"Coherent Navig., Inc., San Mateo, CA, USA","institution_ids":["https://openalex.org/I863488634"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087789612","display_name":"Mark Campbell","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]},{"id":"https://openalex.org/I4210148073","display_name":"Sibley Memorial Hospital","ror":"https://ror.org/056jn9s46","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436","https://openalex.org/I4210148073"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Campbell","raw_affiliation_strings":["Sibley School of Mechanical and AeroSpace Engineering, USA","Sibley Sch. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and AeroSpace Engineering, USA","institution_ids":["https://openalex.org/I4210148073"]},{"raw_affiliation_string":"Sibley Sch. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112446832","display_name":"Daniel P. Huttenlocher","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Huttenlocher","raw_affiliation_strings":["Computer Science Department, Cornell University, Ithaca, NY, USA","Comput. Sci. Dept., Cornell Univ., Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Comput. Sci. Dept., Cornell Univ., Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5034439549"],"corresponding_institution_ids":["https://openalex.org/I4210161360","https://openalex.org/I863488634"],"apc_list":null,"apc_paid":null,"fwci":4.0594,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.93955667,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"27","issue":"1","first_page":"29","last_page":"46"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9833999872207642,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9812999963760376,"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/particle-filter","display_name":"Particle filter","score":0.7082890272140503},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6424495577812195},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6250097155570984},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5793583393096924},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5134807229042053},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4447494149208069},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.433284193277359},{"id":"https://openalex.org/keywords/dynamic-data","display_name":"Dynamic data","score":0.4108354449272156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3917672038078308},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34951648116111755},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3469405174255371},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3446881175041199},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16163155436515808}],"concepts":[{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7082890272140503},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6424495577812195},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6250097155570984},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5793583393096924},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5134807229042053},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4447494149208069},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.433284193277359},{"id":"https://openalex.org/C197298091","wikidata":"https://www.wikidata.org/wiki/Q5318963","display_name":"Dynamic data","level":2,"score":0.4108354449272156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3917672038078308},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34951648116111755},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3469405174255371},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3446881175041199},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16163155436515808},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2010.2085490","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2085490","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W186426757","https://openalex.org/W1232539894","https://openalex.org/W1509463039","https://openalex.org/W1531532259","https://openalex.org/W1567487277","https://openalex.org/W1586173270","https://openalex.org/W1590239300","https://openalex.org/W1598925886","https://openalex.org/W1764250255","https://openalex.org/W1870256699","https://openalex.org/W1977464512","https://openalex.org/W1978703875","https://openalex.org/W2020934227","https://openalex.org/W2047328415","https://openalex.org/W2055207897","https://openalex.org/W2066832919","https://openalex.org/W2082650700","https://openalex.org/W2092451715","https://openalex.org/W2103990233","https://openalex.org/W2105728775","https://openalex.org/W2105905583","https://openalex.org/W2107402720","https://openalex.org/W2111830917","https://openalex.org/W2111859318","https://openalex.org/W2115286699","https://openalex.org/W2115672710","https://openalex.org/W2118603200","https://openalex.org/W2119417818","https://openalex.org/W2121806728","https://openalex.org/W2122410182","https://openalex.org/W2124651605","https://openalex.org/W2125261883","https://openalex.org/W2125420246","https://openalex.org/W2126828821","https://openalex.org/W2140967886","https://openalex.org/W2142321844","https://openalex.org/W2149020252","https://openalex.org/W2150440166","https://openalex.org/W2152731615","https://openalex.org/W2157468226","https://openalex.org/W2157664516","https://openalex.org/W2160337655","https://openalex.org/W2296035016","https://openalex.org/W2399732523","https://openalex.org/W2402106645","https://openalex.org/W2404189583","https://openalex.org/W2406067508","https://openalex.org/W2408243243","https://openalex.org/W2571050459","https://openalex.org/W2758107681","https://openalex.org/W3187867541","https://openalex.org/W4237092847","https://openalex.org/W4293682399","https://openalex.org/W6607525295","https://openalex.org/W6635193627","https://openalex.org/W6655473528","https://openalex.org/W6682971385","https://openalex.org/W6696785258","https://openalex.org/W6763868703"],"related_works":["https://openalex.org/W2126807813","https://openalex.org/W2051516969","https://openalex.org/W1497101000","https://openalex.org/W2013820100","https://openalex.org/W2102101492","https://openalex.org/W2214805552","https://openalex.org/W2054021310","https://openalex.org/W2274330372","https://openalex.org/W2123824966","https://openalex.org/W2168494495"],"abstract_inverted_index":{"A":[0],"novel-tracking":[1],"algorithm":[2,30,90],"is":[3,91],"presented":[4],"as":[5],"a":[6,24,32,45,55,71,85],"computationally":[7],"feasible,":[8],"real-time":[9],"solution":[10],"to":[11,37],"the":[12,39,109],"joint":[13,40],"estimation":[14,41],"problem":[15,42,48,59],"of":[16,70],"data":[17,46,106],"assignment":[18,47],"and":[19,53,75,104],"dynamic":[20,57],"obstacle":[21],"tracking":[22,81],"from":[23],"potentially":[25],"moving":[26],"robotic":[27,102],"platform.":[28],"The":[29,65,89],"implements":[31],"Rao-Blackwellized":[33],"particle":[34,51],"filter":[35,52],"(RBPF)":[36],"factorize":[38],"into":[43],"1)":[44],"solved":[49,60],"via":[50],"2)":[54],"multiple":[56],"obstacle-tracking":[58],"with":[61,100],"efficient":[62],"parametric":[63,66],"filters.":[64],"filters":[67],"make":[68],"use":[69],"new":[72],"target":[73],"representation":[74],"stable":[76],"features":[77],"developed":[78],"specifically":[79],"for":[80],"full-size":[82,101],"vehicles":[83,103],"in":[84,93,97],"dense":[86],"traffic":[87],"environment.":[88],"validated":[92],"real":[94],"time,":[95],"both":[96],"controlled":[98],"experiments":[99],"on":[105],"collected":[107],"at":[108],"2007":[110],"Defense":[111],"Advanced":[112],"Research":[113],"Projects":[114],"Agency":[115],"(DARPA)":[116],"Urban":[117],"Challenge.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
