{"id":"https://openalex.org/W2361025071","doi":"https://doi.org/10.1177/0278364918775523","title":"A random finite set approach for dynamic occupancy grid maps with real-time application","display_name":"A random finite set approach for dynamic occupancy grid maps with real-time application","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2361025071","doi":"https://doi.org/10.1177/0278364918775523","mag":"2361025071"},"language":"en","primary_location":{"id":"doi:10.1177/0278364918775523","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918775523","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1605.02406","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072069456","display_name":"Dominik Nu\u00df","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091388","display_name":"Mercedes-Benz Research and Development North America (United States)","ror":"https://ror.org/00b4ram58","country_code":"US","type":"company","lineage":["https://openalex.org/I1332474105","https://openalex.org/I4210091388"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dominik Nuss","raw_affiliation_strings":["Mercedes-Benz Research & Development North America, Inc., USA"],"affiliations":[{"raw_affiliation_string":"Mercedes-Benz Research & Development North America, Inc., USA","institution_ids":["https://openalex.org/I4210091388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014956076","display_name":"Stephan Reuter","orcid":"https://orcid.org/0000-0002-4858-1081"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stephan Reuter","raw_affiliation_strings":["Institute of Measurement, Control, and Microtechnology, Ulm University, Germany","[Institute of Measurement Control and Microtechnology, Ulm University, Germany]"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, Ulm University, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"[Institute of Measurement Control and Microtechnology, Ulm University, Germany]","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056295531","display_name":"Markus Thom","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Thom","raw_affiliation_strings":["Institute of Measurement, Control, and Microtechnology, Ulm University, Germany","[Institute of Measurement Control and Microtechnology, Ulm University, Germany]"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, Ulm University, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"[Institute of Measurement Control and Microtechnology, Ulm University, Germany]","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101882265","display_name":"Ting Yuan","orcid":"https://orcid.org/0000-0002-0713-5974"},"institutions":[{"id":"https://openalex.org/I4210091388","display_name":"Mercedes-Benz Research and Development North America (United States)","ror":"https://ror.org/00b4ram58","country_code":"US","type":"company","lineage":["https://openalex.org/I1332474105","https://openalex.org/I4210091388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ting Yuan","raw_affiliation_strings":["Mercedes-Benz Research & Development North America, Inc., USA"],"affiliations":[{"raw_affiliation_string":"Mercedes-Benz Research & Development North America, Inc., USA","institution_ids":["https://openalex.org/I4210091388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080400696","display_name":"Gunther Krehl","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091388","display_name":"Mercedes-Benz Research and Development North America (United States)","ror":"https://ror.org/00b4ram58","country_code":"US","type":"company","lineage":["https://openalex.org/I1332474105","https://openalex.org/I4210091388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gunther Krehl","raw_affiliation_strings":["Mercedes-Benz Research & Development North America, Inc., USA"],"affiliations":[{"raw_affiliation_string":"Mercedes-Benz Research & Development North America, Inc., USA","institution_ids":["https://openalex.org/I4210091388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034235140","display_name":"Michael Maile","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091388","display_name":"Mercedes-Benz Research and Development North America (United States)","ror":"https://ror.org/00b4ram58","country_code":"US","type":"company","lineage":["https://openalex.org/I1332474105","https://openalex.org/I4210091388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Maile","raw_affiliation_strings":["Mercedes-Benz Research & Development North America, Inc., USA"],"affiliations":[{"raw_affiliation_string":"Mercedes-Benz Research & Development North America, Inc., USA","institution_ids":["https://openalex.org/I4210091388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056741835","display_name":"Axel Gern","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091388","display_name":"Mercedes-Benz Research and Development North America (United States)","ror":"https://ror.org/00b4ram58","country_code":"US","type":"company","lineage":["https://openalex.org/I1332474105","https://openalex.org/I4210091388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Axel Gern","raw_affiliation_strings":["Mercedes-Benz Research & Development North America, Inc., USA"],"affiliations":[{"raw_affiliation_string":"Mercedes-Benz Research & Development North America, Inc., USA","institution_ids":["https://openalex.org/I4210091388"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085054529","display_name":"Klaus Dietmayer","orcid":"https://orcid.org/0000-0002-1651-014X"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaus Dietmayer","raw_affiliation_strings":["Institute of Measurement, Control, and Microtechnology, Ulm University, Germany","[Institute of Measurement Control and Microtechnology, Ulm University, Germany]"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, Ulm University, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"[Institute of Measurement Control and Microtechnology, Ulm University, Germany]","institution_ids":["https://openalex.org/I196349391"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5072069456"],"corresponding_institution_ids":["https://openalex.org/I4210091388"],"apc_list":null,"apc_paid":null,"fwci":1.1845,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.83734904,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"37","issue":"8","first_page":"841","last_page":"866"},"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":0.9994000196456909,"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":0.9994000196456909,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.984499990940094,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.8748164176940918},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6746561527252197},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6675130724906921},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6344455480575562},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5839600563049316},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.47477102279663086},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4200558662414551},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37783610820770264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3275126814842224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20582622289657593},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.20448845624923706},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20399492979049683},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16028299927711487}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.8748164176940918},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6746561527252197},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6675130724906921},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6344455480575562},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5839600563049316},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.47477102279663086},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4200558662414551},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37783610820770264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3275126814842224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20582622289657593},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.20448845624923706},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20399492979049683},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16028299927711487},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/0278364918775523","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918775523","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1605.02406","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1605.02406","pdf_url":"https://arxiv.org/pdf/1605.02406","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2361025071","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1605.02406","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1605.02406","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1605.02406","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1605.02406","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1605.02406","pdf_url":"https://arxiv.org/pdf/1605.02406","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G769329974","display_name":null,"funder_award_id":"Transregional Collaborative Research Center SFB/TR","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2361025071.pdf"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W34992941","https://openalex.org/W170770739","https://openalex.org/W617750611","https://openalex.org/W1142702271","https://openalex.org/W1507290626","https://openalex.org/W1512921847","https://openalex.org/W1521536543","https://openalex.org/W1531532259","https://openalex.org/W1909771825","https://openalex.org/W1976511700","https://openalex.org/W1981643872","https://openalex.org/W1999050017","https://openalex.org/W2008925116","https://openalex.org/W2014787937","https://openalex.org/W2044263254","https://openalex.org/W2047328415","https://openalex.org/W2049244691","https://openalex.org/W2064658112","https://openalex.org/W2079150870","https://openalex.org/W2085612090","https://openalex.org/W2105905583","https://openalex.org/W2105934661","https://openalex.org/W2106873007","https://openalex.org/W2109168219","https://openalex.org/W2110354007","https://openalex.org/W2118558147","https://openalex.org/W2118846356","https://openalex.org/W2121806728","https://openalex.org/W2123369938","https://openalex.org/W2125220577","https://openalex.org/W2136119851","https://openalex.org/W2137585588","https://openalex.org/W2145951052","https://openalex.org/W2154353836","https://openalex.org/W2154912862","https://openalex.org/W2161435744","https://openalex.org/W2164598857","https://openalex.org/W2166575512","https://openalex.org/W2170732147","https://openalex.org/W2216980943","https://openalex.org/W2797148637","https://openalex.org/W2904900506","https://openalex.org/W4212954311","https://openalex.org/W4301347335"],"related_works":["https://openalex.org/W2245943671","https://openalex.org/W2075026170","https://openalex.org/W2990112790","https://openalex.org/W2743979562","https://openalex.org/W2590408257","https://openalex.org/W1521536543","https://openalex.org/W1507290626","https://openalex.org/W2013175505","https://openalex.org/W1947421145","https://openalex.org/W2212202518","https://openalex.org/W2744790716","https://openalex.org/W2334731789","https://openalex.org/W2054129350","https://openalex.org/W2160391767","https://openalex.org/W2333515528","https://openalex.org/W2592906030","https://openalex.org/W2496459925","https://openalex.org/W3183357579","https://openalex.org/W1972393851","https://openalex.org/W2246190661"],"abstract_inverted_index":{"Grid":[0],"mapping":[1],"is":[2,50,66],"a":[3,26,30,67,83,91,104,115,124,144,150,155,168],"well-established":[4],"approach":[5],"for":[6,158],"environment":[7,28,113],"perception":[8],"in":[9,25,90,143,166],"robotic":[10],"and":[11,86,160,164,193,197],"automotive":[12],"applications.":[13],"Early":[14],"work":[15],"suggests":[16],"estimating":[17],"the":[18,39,79,97,112,134,182,187],"occupancy":[19,63],"state":[20,42,81,98,202],"of":[21,44,61,82,99,181],"each":[22,45],"grid":[23,46,64,84,101],"cell":[24,85],"robot\u2019s":[27],"using":[29,75],"Bayesian":[31],"filter":[32,49,132,142,173,188],"to":[33,53,77,110],"recursively":[34],"combine":[35],"new":[36],"measurements":[37],"with":[38,119],"current":[40],"posterior":[41],"estimate":[43],"cell.":[47],"This":[48,94],"often":[51],"referred":[52],"as":[54,103,114,154,190],"binary":[55],"Bayes":[56],"filter.":[57],"A":[58,175],"basic":[59],"assumption":[60],"classical":[62],"maps":[65],"stationary":[68],"environment.":[69],"Recent":[70],"publications":[71],"describe":[72],"bottom-up":[73],"approaches":[74],"particles":[76],"represent":[78],"dynamic":[80,117],"outline":[87],"prediction-update":[88],"recursions":[89],"heuristic":[92],"manner.":[93,146],"paper":[95,148],"defines":[96],"multiple":[100,120],"cells":[102],"random":[105],"finite":[106],"set,":[107],"which":[108],"allows":[109],"model":[111,185],"stochastic,":[116],"system":[118],"obstacles,":[121],"observed":[122],"by":[123],"stochastic":[125,183],"measurement":[126],"system.":[127],"It":[128],"motivates":[129],"an":[130],"original":[131],"called":[133],"probability":[135],"hypothesis":[136],"density":[137],"/":[138],"multi-instance":[139],"Bernoulli":[140],"(PHD/MIB)":[141],"top-down":[145],"The":[147],"presents":[149],"real-time":[151],"application":[152],"serving":[153],"fusion":[156],"layer":[157],"laser":[159],"radar":[161],"sensor":[162],"data":[163],"describes":[165],"detail":[167],"highly":[169],"efficient":[170],"parallel":[171],"particle":[172],"implementation.":[174],"quantitative":[176],"evaluation":[177],"shows":[178],"that":[179,194],"parameters":[180],"process":[184,196],"affect":[186],"results":[189],"theoretically":[191],"expected":[192],"appropriate":[195],"observation":[198],"models":[199],"provide":[200],"consistent":[201],"estimation":[203],"results.":[204]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":5}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2016-06-24T00:00:00"}