{"id":"https://openalex.org/W3110691991","doi":"https://doi.org/10.1177/0959651820975523","title":"Kalman-filter-based sensor fusion applied to road-objects detection and tracking for autonomous vehicles","display_name":"Kalman-filter-based sensor fusion applied to road-objects detection and tracking for autonomous vehicles","publication_year":2020,"publication_date":"2020-12-08","ids":{"openalex":"https://openalex.org/W3110691991","doi":"https://doi.org/10.1177/0959651820975523","mag":"3110691991"},"language":"en","primary_location":{"id":"doi:10.1177/0959651820975523","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651820975523","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5047649315","display_name":"Wael Farag","orcid":"https://orcid.org/0000-0002-9191-1824"},"institutions":[{"id":"https://openalex.org/I145487455","display_name":"Cairo University","ror":"https://ror.org/03q21mh05","country_code":"EG","type":"education","lineage":["https://openalex.org/I145487455"]},{"id":"https://openalex.org/I2803079837","display_name":"American University of the Middle East","ror":"https://ror.org/02gqgne03","country_code":"KW","type":"education","lineage":["https://openalex.org/I2803079837"]}],"countries":["EG","KW"],"is_corresponding":true,"raw_author_name":"Wael Farag","raw_affiliation_strings":["College of Engineering and Technology, American University of the Middle East, Al-Eqaila, Kuwait","Department of Electrical Engineering, Cairo University, Cairo, Egypt"],"affiliations":[{"raw_affiliation_string":"College of Engineering and Technology, American University of the Middle East, Al-Eqaila, Kuwait","institution_ids":["https://openalex.org/I2803079837"]},{"raw_affiliation_string":"Department of Electrical Engineering, Cairo University, Cairo, Egypt","institution_ids":["https://openalex.org/I145487455"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5047649315"],"corresponding_institution_ids":["https://openalex.org/I145487455","https://openalex.org/I2803079837"],"apc_list":null,"apc_paid":null,"fwci":3.7037,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.94382432,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"235","issue":"7","first_page":"1125","last_page":"1138"},"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":0.9998000264167786,"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":0.9998000264167786,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"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":0.9883000254631042,"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/kalman-filter","display_name":"Kalman filter","score":0.8535487055778503},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6636946797370911},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.6394599080085754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6270461678504944},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6101851463317871},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5795279741287231},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5586171746253967},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.4744238257408142},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4528317451477051},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4504871070384979},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4473961591720581},{"id":"https://openalex.org/keywords/minimum-mean-square-error","display_name":"Minimum mean square error","score":0.4351177513599396},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18706101179122925},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1261293888092041},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10566073656082153},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10410508513450623},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07608768343925476}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8535487055778503},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6636946797370911},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.6394599080085754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6270461678504944},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6101851463317871},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5795279741287231},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5586171746253967},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.4744238257408142},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4528317451477051},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4504871070384979},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4473961591720581},{"id":"https://openalex.org/C90652560","wikidata":"https://www.wikidata.org/wiki/Q11091747","display_name":"Minimum mean square error","level":3,"score":0.4351177513599396},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18706101179122925},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1261293888092041},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10566073656082153},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10410508513450623},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07608768343925476},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","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},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0959651820975523","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651820975523","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W61573212","https://openalex.org/W1597511566","https://openalex.org/W1749494163","https://openalex.org/W2085261163","https://openalex.org/W2119033078","https://openalex.org/W2123487311","https://openalex.org/W2272267509","https://openalex.org/W2418082832","https://openalex.org/W2764338514","https://openalex.org/W2789120306","https://openalex.org/W2887662289","https://openalex.org/W2889601303","https://openalex.org/W2900325625","https://openalex.org/W2902860765","https://openalex.org/W2913972737","https://openalex.org/W2947955126","https://openalex.org/W2953303875","https://openalex.org/W2970938561","https://openalex.org/W2972666717","https://openalex.org/W2979810270","https://openalex.org/W3024798163","https://openalex.org/W3033845110","https://openalex.org/W3035019664","https://openalex.org/W3040038818","https://openalex.org/W3040283804","https://openalex.org/W4248493036","https://openalex.org/W4248582102","https://openalex.org/W4253431036","https://openalex.org/W4254632515","https://openalex.org/W4255320159","https://openalex.org/W4289310356","https://openalex.org/W4300942734"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W2075897667","https://openalex.org/W2907746047","https://openalex.org/W3125536267","https://openalex.org/W2274645452"],"abstract_inverted_index":{"In":[0],"this":[1,101],"article,":[2],"a":[3,38,210],"real-time":[4,94,123],"road-Object":[5],"Detection":[6],"and":[7,25,37,66,81,92,113,118,142,180,220],"Tracking":[8],"(LR_ODT)":[9],"method":[10,17],"for":[11,45,69,121,138],"autonomous":[12],"driving":[13],"is":[14,18,43,96,106,153,199],"proposed.":[15],"This":[16],"based":[19],"on":[20,33,176],"the":[21,34,57,75,84,97,109,133,136,145,148,158,172,182,200,207],"fusion":[22,59,152,162,194],"of":[23,51,87,135,147,157,209],"lidar":[24,219],"radar":[26],"measurement":[27],"data,":[28],"where":[29],"they":[30],"are":[31,54],"installed":[32],"ego":[35,76],"car,":[36],"customized":[39],"Unscented":[40,149,167],"Kalman":[41,150,160,168,174],"Filter":[42,151,161,169,175],"employed":[44,193],"their":[46],"data":[47],"fusion.":[48],"The":[49,103,166,192],"merits":[50],"both":[52,64,88],"devices":[53],"combined":[55],"using":[56,108],"proposed":[58,104],"approach":[60],"to":[61,131,155,206],"precisely":[62],"provide":[63],"pose":[65,89],"velocity":[67],"information":[68],"objects":[70],"moving":[71],"in":[72,100,202],"roads":[73],"around":[74],"car.":[77],"Unlike":[78],"other":[79],"detection":[80],"tracking":[82,139,203],"approaches,":[83],"balanced":[85],"treatment":[86],"estimation":[90],"accuracy":[91],"its":[93,164],"performance":[95,134,146,204],"main":[98],"contribution":[99],"work.":[102],"technique":[105,195],"implemented":[107],"high-performance":[110],"language":[111],"C++":[112],"utilizes":[114],"highly":[115],"optimized":[116],"math":[117],"optimization":[119],"libraries":[120],"best":[122],"performance.":[124],"Simulation":[125],"studies":[126],"have":[127],"been":[128],"carried":[129],"out":[130],"evaluate":[132],"LR_ODT":[137],"bicycles,":[140],"cars,":[141],"pedestrians.":[143],"Moreover,":[144],"compared":[154,205],"that":[156],"Extended":[159,173],"showing":[163],"superiority.":[165],"has":[170],"outperformed":[171],"all":[177,181],"test":[178],"cases":[179],"state":[183],"variable":[184],"levels":[185],"(\u221224%":[186],"average":[187],"Root":[188,214,222],"Mean":[189,215,223],"Squared":[190,216,224],"Error).":[191],"shows":[196],"how":[197],"outstanding":[198],"improvement":[201],"use":[208],"single":[211],"device":[212],"(\u221229%":[213],"Error":[217,225],"with":[218,226],"\u221238%":[221],"radar).":[227]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":4}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}
