{"id":"https://openalex.org/W2901015591","doi":"https://doi.org/10.1109/tro.2018.2876111","title":"Detection and Tracking of General Movable Objects in Large Three-Dimensional Maps","display_name":"Detection and Tracking of General Movable Objects in Large Three-Dimensional Maps","publication_year":2018,"publication_date":"2018-11-21","ids":{"openalex":"https://openalex.org/W2901015591","doi":"https://doi.org/10.1109/tro.2018.2876111","mag":"2901015591"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2876111","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2876111","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5050320094","display_name":"Nils Bore","orcid":"https://orcid.org/0000-0003-1189-6634"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Nils Bore","raw_affiliation_strings":["Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-1189-6634","affiliations":[{"raw_affiliation_string":"Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007655525","display_name":"Johan Ekekrantz","orcid":"https://orcid.org/0000-0001-9513-8173"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Johan Ekekrantz","raw_affiliation_strings":["Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-9513-8173","affiliations":[{"raw_affiliation_string":"Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-1170-7162","affiliations":[{"raw_affiliation_string":"Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068942914","display_name":"John Folkesson","orcid":"https://orcid.org/0000-0002-7796-1438"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"John Folkesson","raw_affiliation_strings":["Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-7796-1438","affiliations":[{"raw_affiliation_string":"Robotics, Perception and Learning Lab, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":1.3104,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.85699841,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"35","issue":"1","first_page":"231","last_page":"247"},"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":0.9975000023841858,"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":0.9975000023841858,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9958999752998352,"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":0.9918000102043152,"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":0.7055841684341431},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7001677751541138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6857351064682007},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6496617197990417},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.602005124092102},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6006898880004883},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5793467164039612},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5315102338790894},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.49951696395874023},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4744066894054413},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.46085160970687866},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.46071112155914307}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7055841684341431},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7001677751541138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6857351064682007},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6496617197990417},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.602005124092102},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6006898880004883},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5793467164039612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5315102338790894},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.49951696395874023},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4744066894054413},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.46085160970687866},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.46071112155914307},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2018.2876111","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2876111","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.47999998927116394}],"awards":[{"id":"https://openalex.org/G6258978694","display_name":null,"funder_award_id":"600623","funder_id":"https://openalex.org/F4320333065","funder_display_name":"Seventh Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320333065","display_name":"Seventh Framework Programme","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1519012317","https://openalex.org/W1973876344","https://openalex.org/W1988994102","https://openalex.org/W1997295310","https://openalex.org/W2020999234","https://openalex.org/W2025119805","https://openalex.org/W2047328415","https://openalex.org/W2060775765","https://openalex.org/W2062118960","https://openalex.org/W2069552341","https://openalex.org/W2077193177","https://openalex.org/W2082761562","https://openalex.org/W2096954827","https://openalex.org/W2097861733","https://openalex.org/W2104805688","https://openalex.org/W2124781496","https://openalex.org/W2126736494","https://openalex.org/W2126742341","https://openalex.org/W2126828821","https://openalex.org/W2127021804","https://openalex.org/W2135653613","https://openalex.org/W2137585588","https://openalex.org/W2140927080","https://openalex.org/W2145647377","https://openalex.org/W2149916176","https://openalex.org/W2151715033","https://openalex.org/W2155541015","https://openalex.org/W2164860858","https://openalex.org/W2171625470","https://openalex.org/W2183341477","https://openalex.org/W2187089797","https://openalex.org/W2208195722","https://openalex.org/W2341150500","https://openalex.org/W2527557076","https://openalex.org/W2739076019","https://openalex.org/W2739423245","https://openalex.org/W2765639270","https://openalex.org/W2963173190","https://openalex.org/W2963881442","https://openalex.org/W3101693694","https://openalex.org/W4236715194","https://openalex.org/W4294375521","https://openalex.org/W6630774135","https://openalex.org/W6648737282","https://openalex.org/W6671647848","https://openalex.org/W6679094418","https://openalex.org/W6679187224","https://openalex.org/W6682312250","https://openalex.org/W6682778277","https://openalex.org/W6684476197","https://openalex.org/W6728290513","https://openalex.org/W6744812515"],"related_works":["https://openalex.org/W1578117154","https://openalex.org/W2385949326","https://openalex.org/W2789220062","https://openalex.org/W2542256560","https://openalex.org/W2534746541","https://openalex.org/W35704881","https://openalex.org/W1487175407","https://openalex.org/W2068395580","https://openalex.org/W2146154945","https://openalex.org/W2612376223"],"abstract_inverted_index":{"This":[0,137],"paper":[1],"studies":[2],"the":[3,32,35,43,60,66,80,105,119,130,168,194],"problem":[4,27],"of":[5,9,42,55,156,193],"detection":[6],"and":[7,109,122,166],"tracking":[8,161,186],"general":[10],"objects":[11,44,56,61,81,163],"with":[12,87],"semistatic":[13],"dynamics":[14],"observed":[15],"by":[16,148],"a":[17,22,40,73,149],"mobile":[18,150],"robot":[19,36,67,151],"moving":[20],"in":[21,57,78,187],"large":[23],"environment.":[24],"A":[25],"key":[26,182],"is":[28,68,125,140,164,190],"that":[29,160,167],"due":[30],"to":[31,177,183],"environment":[33],"scale,":[34],"can":[37],"only":[38,83],"observe":[39],"subset":[41],"at":[45],"any":[46],"given":[47],"time.":[48,157],"Since":[49],"some":[50,88],"time":[51],"passes":[52],"between":[53],"observations":[54],"different":[58],"places,":[59],"might":[62],"be":[63],"moved":[64],"when":[65,175],"not":[69],"there.":[70],"We":[71,158],"propose":[72],"model":[74],"for":[75],"this":[76,188],"movement":[77,132],"which":[79],"typically":[82],"move":[84],"locally,":[85],"but":[86],"small":[89],"probability":[90],"they":[91],"jump":[92],"longer":[93],"distances":[94],"through":[95],"what":[96],"we":[97,103,128],"call":[98],"global":[99,110,120],"motion.":[100],"For":[101],"filtering,":[102],"decompose":[104],"posterior":[106,117],"over":[107,118,152],"local":[108,131],"movements":[111,121],"into":[112],"two":[113],"linked":[114],"processes.":[115],"The":[116,181],"measurement":[123],"associations":[124],"sampled,":[126],"while":[127],"track":[129],"analytically":[133],"using":[134],"Kalman":[135],"filters.":[136],"novel":[138],"filter":[139],"evaluated":[141],"on":[142],"point":[143],"cloud":[144],"data":[145],"gathered":[146],"autonomously":[147],"an":[153],"extended":[154],"period":[155],"show":[159],"jumping":[162],"feasible,":[165],"proposed":[169],"probabilistic":[170,185],"treatment":[171],"outperforms":[172],"previous":[173],"methods":[174],"applied":[176],"real":[178],"world":[179],"data.":[180],"efficient":[184],"scenario":[189],"focused":[191],"sampling":[192],"object":[195],"posteriors.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}