{"id":"https://openalex.org/W2910038040","doi":"https://doi.org/10.1155/2019/1296175","title":"Precise Vehicle Position and Heading Estimation Using a Binary Road Marking Map","display_name":"Precise Vehicle Position and Heading Estimation Using a Binary Road Marking Map","publication_year":2019,"publication_date":"2019-01-20","ids":{"openalex":"https://openalex.org/W2910038040","doi":"https://doi.org/10.1155/2019/1296175","mag":"2910038040"},"language":"en","primary_location":{"id":"doi:10.1155/2019/1296175","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2019/1296175","pdf_url":"https://downloads.hindawi.com/journals/js/2019/1296175.pdf","source":{"id":"https://openalex.org/S96783963","display_name":"Journal of Sensors","issn_l":"1687-725X","issn":["1687-725X","1687-7268"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://downloads.hindawi.com/journals/js/2019/1296175.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019499777","display_name":"Kyuwon Kim","orcid":"https://orcid.org/0000-0002-5775-6402"},"institutions":[{"id":"https://openalex.org/I24062138","display_name":"Konkuk University","ror":"https://ror.org/025h1m602","country_code":"KR","type":"education","lineage":["https://openalex.org/I24062138"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Kyu-Won Kim","raw_affiliation_strings":["Department of Electronic Engineering, Konkuk University, Seoul 05029, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-5775-6402","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Konkuk University, Seoul 05029, Republic of Korea","institution_ids":["https://openalex.org/I24062138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078181460","display_name":"Jun-Hyuck Im","orcid":"https://orcid.org/0000-0003-3295-1364"},"institutions":[{"id":"https://openalex.org/I24062138","display_name":"Konkuk University","ror":"https://ror.org/025h1m602","country_code":"KR","type":"education","lineage":["https://openalex.org/I24062138"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun-Hyuck Im","raw_affiliation_strings":["Department of Electronic Engineering, Konkuk University, Seoul 05029, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Konkuk University, Seoul 05029, Republic of Korea","institution_ids":["https://openalex.org/I24062138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108673172","display_name":"Moon-Beom Heo","orcid":null},"institutions":[{"id":"https://openalex.org/I2800747041","display_name":"Korea Aerospace Research Institute","ror":"https://ror.org/037pqnq23","country_code":"KR","type":"government","lineage":["https://openalex.org/I2800747041","https://openalex.org/I2801339556","https://openalex.org/I4387152098","https://openalex.org/I4405260336"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Moon-Beom Heo","raw_affiliation_strings":["Satellite Navigation Team, Korea Aerospace Research Institute (KARI), Daejeon 34133, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Satellite Navigation Team, Korea Aerospace Research Institute (KARI), Daejeon 34133, Republic of Korea","institution_ids":["https://openalex.org/I2800747041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015849631","display_name":"Gyu-In Jee","orcid":"https://orcid.org/0000-0002-4736-5993"},"institutions":[{"id":"https://openalex.org/I24062138","display_name":"Konkuk University","ror":"https://ror.org/025h1m602","country_code":"KR","type":"education","lineage":["https://openalex.org/I24062138"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gyu-In Jee","raw_affiliation_strings":["Department of Electronic Engineering, Konkuk University, Seoul 05029, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-4736-5993","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Konkuk University, Seoul 05029, Republic of Korea","institution_ids":["https://openalex.org/I24062138"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5019499777"],"corresponding_institution_ids":["https://openalex.org/I24062138"],"apc_list":{"value":2375,"currency":"USD","value_usd":2375},"apc_paid":{"value":2375,"currency":"USD","value_usd":2375},"fwci":0.4001,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.63421411,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2019","issue":null,"first_page":"1","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955999851226807,"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/position","display_name":"Position (finance)","score":0.6899684071540833},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.6777681708335876},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6605415344238281},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6603398323059082},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.654108464717865},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.61370849609375},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.607050895690918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5884905457496643},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.572509229183197},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.5686827301979065},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5439460277557373},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.5431593060493469},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.5149398446083069},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4774113893508911},{"id":"https://openalex.org/keywords/road-map","display_name":"Road map","score":0.4197548031806946},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23167705535888672},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1970367431640625},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.17579177021980286},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.15858352184295654},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.15418797731399536},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11413803696632385},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.1001163125038147},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.0864122211933136}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6899684071540833},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6777681708335876},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6605415344238281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6603398323059082},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.654108464717865},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.61370849609375},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.607050895690918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5884905457496643},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.572509229183197},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.5686827301979065},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5439460277557373},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.5431593060493469},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.5149398446083069},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4774113893508911},{"id":"https://openalex.org/C188048851","wikidata":"https://www.wikidata.org/wiki/Q2298569","display_name":"Road map","level":2,"score":0.4197548031806946},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23167705535888672},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1970367431640625},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.17579177021980286},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.15858352184295654},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.15418797731399536},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11413803696632385},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.1001163125038147},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0864122211933136},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2019/1296175","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2019/1296175","pdf_url":"https://downloads.hindawi.com/journals/js/2019/1296175.pdf","source":{"id":"https://openalex.org/S96783963","display_name":"Journal of Sensors","issn_l":"1687-725X","issn":["1687-725X","1687-7268"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Sensors","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ebed19ca5ced46488ade51f0ab0b6a44","is_oa":false,"landing_page_url":"https://doaj.org/article/ebed19ca5ced46488ade51f0ab0b6a44","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"Journal of Sensors, Vol 2019 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2019/1296175","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2019/1296175","pdf_url":"https://downloads.hindawi.com/journals/js/2019/1296175.pdf","source":{"id":"https://openalex.org/S96783963","display_name":"Journal of Sensors","issn_l":"1687-725X","issn":["1687-725X","1687-7268"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5400000214576721,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G5798824240","display_name":null,"funder_award_id":"18TLRP-C113269-03","funder_id":"https://openalex.org/F4320322010","funder_display_name":"Ministry of Land, Infrastructure and Transport"}],"funders":[{"id":"https://openalex.org/F4320322010","display_name":"Ministry of Land, Infrastructure and Transport","ror":"https://ror.org/04xt5aa77"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2910038040.pdf","grobid_xml":"https://content.openalex.org/works/W2910038040.grobid-xml"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W179122090","https://openalex.org/W2024908906","https://openalex.org/W2110235183","https://openalex.org/W2131372145","https://openalex.org/W2133059825","https://openalex.org/W2165086803","https://openalex.org/W2266107920","https://openalex.org/W2284520540","https://openalex.org/W2339327661","https://openalex.org/W2486452906","https://openalex.org/W2605103573","https://openalex.org/W2765826355"],"related_works":["https://openalex.org/W2091397552","https://openalex.org/W2620594456","https://openalex.org/W3092822964","https://openalex.org/W2168263645","https://openalex.org/W2129049645","https://openalex.org/W2766124012","https://openalex.org/W2323901766","https://openalex.org/W2170572553","https://openalex.org/W614056693","https://openalex.org/W1965154611"],"abstract_inverted_index":{"Road":[0],"markings":[1],"are":[2,39],"always":[3],"present":[4],"on":[5],"roads":[6],"to":[7,83,100],"guide":[8],"and":[9,33,77,96,190,220,241],"control":[10],"traffic.":[11],"Therefore,":[12,172],"they":[13,24,38,166],"can":[14,25,184],"be":[15,26],"used":[16,123],"at":[17],"any":[18],"time":[19],"for":[20,125,157,177],"vehicle":[21,45,158],"localization.":[22,159],"Moreover,":[23,150],"easily":[27],"extracted":[28],"by":[29],"using":[30,48,90,135],"light":[31],"detection":[32],"ranging":[34],"(LIDAR)":[35],"intensity":[36],"because":[37],"brightly":[40],"colored.":[41],"We":[42,86],"propose":[43,130,174],"a":[44,49,91,131,230,245],"localization":[46],"method":[47],"2D":[50],"road":[51,88,118,138],"marking":[52,89,119,139],"grid":[53,56,64,120,140],"map.":[54,104,141],"The":[55,194],"map":[57,60,110,121,179],"inserts":[58],"the":[59,63,103,109,114,117,136,207,210],"information":[61,99],"into":[62],"directly.":[65],"Thus,":[66,105],"an":[67,154,175],"additional":[68],"process":[69],"(such":[70],"as":[71],"line":[72],"detection)":[73],"is":[74,79,153],"not":[75],"required":[76],"there":[78],"no":[80],"problem":[81],"due":[82],"false":[84],"detection.":[85],"obtained":[87,229],"3D":[92],"LIDAR":[93],"(Velodyne":[94],"HDL-32E)":[95],"binarized":[97],"this":[98],"store":[101],"in":[102,198,238],"we":[106,129,143,173,183,228],"could":[107],"reduce":[108],"size":[111],"significantly.":[112],"In":[113,206],"previous":[115],"research,":[116],"was":[122,196,217,224],"only":[124,186],"position":[126,147,151,192,231],"estimation.":[127],"However,":[128],"position-and-heading":[132],"estimation":[133,148],"algorithm":[134,176],"binary":[137],"Accordingly,":[142],"derive":[144],"more":[145],"precise":[146],"results.":[149,181],"reliability":[152],"important":[155],"factor":[156],"Autonomous":[160],"vehicles":[161],"may":[162],"cause":[163],"accidents":[164],"if":[165],"cannot":[167],"maintain":[168],"their":[169],"lane":[170],"momentarily.":[171],"evaluating":[178],"matching":[180,188],"Consequently,":[182],"use":[185],"reliable":[187],"results":[189],"increase":[191],"reliability.":[193],"experiment":[195],"conducted":[197],"Gangnam,":[199],"Seoul,":[200],"where":[201],"GPS":[202],"error":[203,216,223,232],"occurs":[204],"largely.":[205],"experimental":[208],"results,":[209],"lateral":[211,240],"root":[212],"mean":[213],"square":[214],"(RMS)":[215],"0.05":[218],"m":[219],"longitudinal":[221,242],"RMS":[222],"0.08":[225],"m.":[226],"Further,":[227],"of":[233],"less":[234],"than":[235],"50":[236],"cm":[237],"both":[239],"directions":[243],"with":[244],"99%":[246],"confidence":[247],"level.":[248]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}