{"id":"https://openalex.org/W4403331864","doi":"https://doi.org/10.23919/fusion59988.2024.10706479","title":"Bayesian Simultaneous Localization and Multi-Lane Tracking Using Onboard Sensors and a SD Map","display_name":"Bayesian Simultaneous Localization and Multi-Lane Tracking Using Onboard Sensors and a SD Map","publication_year":2024,"publication_date":"2024-07-08","ids":{"openalex":"https://openalex.org/W4403331864","doi":"https://doi.org/10.23919/fusion59988.2024.10706479"},"language":"en","primary_location":{"id":"doi:10.23919/fusion59988.2024.10706479","is_oa":false,"landing_page_url":"https://doi.org/10.23919/fusion59988.2024.10706479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 27th International Conference on Information Fusion (FUSION)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-208406","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025858225","display_name":"Yuxuan Xia","orcid":"https://orcid.org/0000-0002-2788-7911"},"institutions":[{"id":"https://openalex.org/I4210086940","display_name":"Zenuity (Sweden)","ror":"https://ror.org/000dpyn16","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210086940"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yuxuan Xia","raw_affiliation_strings":["Zenseact,Gothenburg,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zenseact,Gothenburg,Sweden","institution_ids":["https://openalex.org/I4210086940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000568479","display_name":"Erik Stenborg","orcid":null},"institutions":[{"id":"https://openalex.org/I4210086940","display_name":"Zenuity (Sweden)","ror":"https://ror.org/000dpyn16","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210086940"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Erik Stenborg","raw_affiliation_strings":["Zenseact,Gothenburg,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zenseact,Gothenburg,Sweden","institution_ids":["https://openalex.org/I4210086940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029573305","display_name":"Junsheng Fu","orcid":"https://orcid.org/0000-0002-8111-256X"},"institutions":[{"id":"https://openalex.org/I4210086940","display_name":"Zenuity (Sweden)","ror":"https://ror.org/000dpyn16","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210086940"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Junsheng Fu","raw_affiliation_strings":["Zenseact,Gothenburg,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zenseact,Gothenburg,Sweden","institution_ids":["https://openalex.org/I4210086940"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001137240","display_name":"Gustaf Hendeby","orcid":"https://orcid.org/0000-0002-1971-4295"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Gustaf Hendeby","raw_affiliation_strings":["Linköping University,Department of Electrical Engineering,Linköping,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Linköping University,Department of Electrical Engineering,Linköping,Sweden","institution_ids":["https://openalex.org/I102134673"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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":0.9908000230789185,"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":0.9908000230789185,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.968500018119812,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9539999961853027,"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/computer-science","display_name":"Computer science","score":0.6631063222885132},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.642505407333374},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.623866856098175},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6016175746917725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.561516284942627},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.35381537675857544},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11907720565795898}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6631063222885132},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.642505407333374},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.623866856098175},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6016175746917725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.561516284942627},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.35381537675857544},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11907720565795898},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/fusion59988.2024.10706479","is_oa":false,"landing_page_url":"https://doi.org/10.23919/fusion59988.2024.10706479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 27th International Conference on Information Fusion (FUSION)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:liu-208406","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-208406","pdf_url":null,"source":{"id":"https://openalex.org/S4306400838","display_name":"DiVA (Linkoping University)","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":"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:DiVA.org:liu-208406","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-208406","pdf_url":null,"source":{"id":"https://openalex.org/S4306400838","display_name":"DiVA (Linkoping University)","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":"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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1568988877","https://openalex.org/W1974092307","https://openalex.org/W2000460081","https://openalex.org/W2083183663","https://openalex.org/W2292739518","https://openalex.org/W2398554122","https://openalex.org/W2557169239","https://openalex.org/W2781819319","https://openalex.org/W2801573735","https://openalex.org/W2901974889","https://openalex.org/W2903085494","https://openalex.org/W2948034885","https://openalex.org/W2963522331","https://openalex.org/W2970412534","https://openalex.org/W3010674971","https://openalex.org/W3099552904","https://openalex.org/W3101735304","https://openalex.org/W3212310541","https://openalex.org/W4226323855","https://openalex.org/W4229079884","https://openalex.org/W4312040215","https://openalex.org/W4312229467","https://openalex.org/W4384284172","https://openalex.org/W4386869696","https://openalex.org/W4389665693"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2772917594","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398","https://openalex.org/W2775347418"],"abstract_inverted_index":{"High-definition":[0],"map":[1],"with":[2,177],"accurate":[3],"lane-level":[4,31],"information":[5],"is":[6,17,89,106,137],"crucial":[7],"for":[8],"autonomous":[9],"driving,":[10],"but":[11],"the":[12,35,69,82,101,166,172,178],"creation":[13],"of":[14,85,103,142],"these":[15],"maps":[16],"a":[18,26,42,51,77,92,109,117,140,156],"resource-intensive":[19],"process.":[20],"To":[21],"this":[22],"end,":[23],"we":[24],"present":[25],"cost-effective":[27],"solution":[28,49,147],"to":[29,66,182],"create":[30],"roadmaps":[32],"using":[33,91,116,131,151],"only":[34],"global":[36],"navigation":[37],"satellite":[38,173],"system":[39],"(GNSS)":[40],"and":[41,60,80,96,134],"camera":[43],"on":[44,160,171],"customer":[45],"vehicles.":[46],"Our":[47],"proposed":[48,146],"utilizes":[50],"prior":[52],"standard-definition":[53],"(SD)":[54],"map,":[55,79],"GNSS":[56],"measurements,":[57],"visual":[58],"odometry,":[59],"lane":[61,179],"marking":[62],"edge":[63],"detection":[64],"points,":[65],"simultaneously":[67],"estimate":[68],"vehicle\u2019s":[70],"6":[71],"D":[72],"pose,":[73],"its":[74],"position":[75],"within":[76],"SD":[78],"also":[81],"3D":[83],"geometry":[84],"traffic":[86,104,127,167],"lines.":[87],"This":[88],"achieved":[90],"Bayesian":[93],"simultaneous":[94],"localization":[95],"multi-object":[97],"tracking":[98,113],"filter,":[99],"where":[100],"estimation":[102],"lines":[105,128],"formulated":[107],"as":[108],"multiple":[110],"extended":[111],"object":[112],"problem,":[114],"solved":[115],"trajectory":[118,136],"Poisson":[119],"multi-Bernoulli":[120],"mixture":[121],"(TPMBM)":[122],"filter.":[123],"In":[124],"TPMBM":[125],"filtering,":[126],"are":[129],"modeled":[130],"B-spline":[132],"trajectories,":[133],"each":[135],"parameterized":[138],"by":[139,155],"sequence":[141],"control":[143],"points.":[144],"The":[145],"has":[148],"been":[149],"evaluated":[150],"experimental":[152],"data":[153],"collected":[154],"test":[157],"vehicle":[158],"driving":[159],"highway.":[161],"Preliminary":[162],"results":[163],"show":[164],"that":[165],"line":[168],"estimates,":[169],"overlaid":[170],"image,":[174],"generally":[175],"align":[176],"markings":[180],"up":[181],"some":[183],"lateral":[184],"offsets.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}