{"id":"https://openalex.org/W4400946860","doi":"https://doi.org/10.23919/ecc64448.2024.10591139","title":"Multi-Object Tracking with Camera-LiDAR Fusion for Autonomous Driving","display_name":"Multi-Object Tracking with Camera-LiDAR Fusion for Autonomous Driving","publication_year":2024,"publication_date":"2024-06-25","ids":{"openalex":"https://openalex.org/W4400946860","doi":"https://doi.org/10.23919/ecc64448.2024.10591139"},"language":"en","primary_location":{"id":"doi:10.23919/ecc64448.2024.10591139","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc64448.2024.10591139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11311/1283709","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5094105674","display_name":"Riccardo Pieroni","orcid":"https://orcid.org/0009-0004-8568-9755"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Riccardo Pieroni","raw_affiliation_strings":["Informazione e Bioingegneria, Politecnico di Milano,Dipartimento di Elettronica,Milan,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Informazione e Bioingegneria, Politecnico di Milano,Dipartimento di Elettronica,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092495834","display_name":"Simone Specchia","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Specchia","raw_affiliation_strings":["Informazione e Bioingegneria, Politecnico di Milano,Dipartimento di Elettronica,Milan,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Informazione e Bioingegneria, Politecnico di Milano,Dipartimento di Elettronica,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066842848","display_name":"Matteo Corno","orcid":"https://orcid.org/0000-0003-2644-7487"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Corno","raw_affiliation_strings":["Informazione e Bioingegneria, Politecnico di Milano,Dipartimento di Elettronica,Milan,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Informazione e Bioingegneria, Politecnico di Milano,Dipartimento di Elettronica,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047303451","display_name":"Sergio M. Savaresi","orcid":"https://orcid.org/0000-0001-5829-2323"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sergio Matteo Savaresi","raw_affiliation_strings":["Informazione e Bioingegneria, Politecnico di Milano,Dipartimento di Elettronica,Milan,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Informazione e Bioingegneria, Politecnico di Milano,Dipartimento di Elettronica,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.8585,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.96975552,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2774","last_page":"2779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9266999959945679,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9266999959945679,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9064000248908997,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7926665544509888},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7319020628929138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6888478994369507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6628729701042175},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.6209691166877747},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5675883293151855},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5398513674736023},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5374714732170105},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.5031916499137878},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2746075689792633},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.16348013281822205}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7926665544509888},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7319020628929138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6888478994369507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6628729701042175},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.6209691166877747},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5675883293151855},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5398513674736023},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5374714732170105},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.5031916499137878},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2746075689792633},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.16348013281822205},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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":2,"locations":[{"id":"doi:10.23919/ecc64448.2024.10591139","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc64448.2024.10591139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1283709","is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1283709","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:re.public.polimi.it:11311/1283709","is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1283709","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1975675300","https://openalex.org/W2074658631","https://openalex.org/W2079537345","https://openalex.org/W2115579991","https://openalex.org/W2565029242","https://openalex.org/W2989738721","https://openalex.org/W3086436251","https://openalex.org/W3095753995","https://openalex.org/W3104778224","https://openalex.org/W3156808330","https://openalex.org/W3167095230","https://openalex.org/W3196204376","https://openalex.org/W3207707490","https://openalex.org/W4214558638","https://openalex.org/W4221145330","https://openalex.org/W4243962928","https://openalex.org/W4308871936","https://openalex.org/W4312778480","https://openalex.org/W6846541428"],"related_works":["https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2353265673","https://openalex.org/W4285271403","https://openalex.org/W2542007731","https://openalex.org/W2031175860","https://openalex.org/W2968379562","https://openalex.org/W3156013036","https://openalex.org/W2152662039"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,24,44,62,118],"novel":[4],"multi-modal":[5,97],"Multi-Object":[6],"Tracking":[7],"(MOT)":[8],"algorithm":[9,42,102,135],"for":[10,52,122],"self-driving":[11],"cars":[12],"that":[13],"combines":[14],"camera":[15],"and":[16,61,76,82,85,124,141],"LiDAR":[17,37,131],"data.":[18],"Camera":[19],"frames":[20],"are":[21,33],"processed":[22],"with":[23,142,145],"state-of-the-art":[25,96],"3D":[26,119],"object":[27,81],"detector,":[28],"whereas":[29],"classical":[30],"clustering":[31],"techniques":[32],"used":[34],"to":[35,127],"process":[36],"observations.":[38],"The":[39,66,134],"proposed":[40,101],"MOT":[41,98],"comprises":[43],"three-step":[45],"association":[46],"process,":[47],"an":[48],"Extended":[49],"Kalman":[50],"filter":[51],"estimating":[53],"the":[54,71,79,83,89,100,111,128],"motion":[55,68],"of":[56,78,88,110,130],"each":[57],"detected":[58],"dynamic":[59],"obstacle,":[60],"track":[63],"management":[64],"phase.":[65],"EKF":[67],"model":[69],"requires":[70],"current":[72],"measured":[73],"relative":[74],"position":[75],"orientation":[77],"observed":[80],"longitudinal":[84],"angular":[86],"velocities":[87],"ego":[90,112],"vehicle":[91],"as":[92],"inputs.":[93],"Unlike":[94],"most":[95],"approaches,":[99],"does":[103],"not":[104],"rely":[105],"on":[106],"maps":[107],"or":[108],"knowledge":[109],"global":[113],"pose.":[114],"Moreover,":[115],"it":[116],"uses":[117],"detector":[120],"exclusively":[121],"cameras":[123],"is":[125,136],"agnostic":[126],"type":[129],"sensor":[132],"used.":[133],"validated":[137],"both":[138],"in":[139],"simulation":[140],"real-world":[143],"data,":[144],"satisfactory":[146],"results.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2024-07-25T00:00:00"}