{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,22]],"date-time":"2026-04-22T18:10:49Z","timestamp":1776881449128,"version":"3.51.2"},"reference-count":31,"publisher":"IEEE","license":[{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019,11]]},"DOI":"10.1109\/iros40897.2019.8967554","type":"proceedings-article","created":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T23:53:51Z","timestamp":1580428431000},"page":"250-257","source":"Crossref","is-referenced-by-count":14,"title":["Infrastructure-free NLoS Obstacle Detection for Autonomous Cars"],"prefix":"10.1109","author":[{"given":"Felix","family":"Naser","sequence":"first","affiliation":[{"name":"Massachusetts Institute for Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Igor","family":"Gilitschenski","sequence":"additional","affiliation":[{"name":"Massachusetts Institute for Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alexander","family":"Amini","sequence":"additional","affiliation":[{"name":"Massachusetts Institute for Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Christina","family":"Liao","sequence":"additional","affiliation":[{"name":"Massachusetts Institute for Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guy","family":"Rosman","sequence":"additional","affiliation":[{"name":"Toyota Research Institute (TRI),Cambridge,MA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sertac","family":"Karaman","sequence":"additional","affiliation":[{"name":"Massachusetts Institute for Technology,Laboratory for Information and Decision Systems (LIDS),Cambridge,MA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniela","family":"Rus","sequence":"additional","affiliation":[{"name":"Massachusetts Institute for Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1016\/S0262-8856(03)00137-9"},{"key":"ref30","article-title":"Sparkle vision: Seeing the world through random specular microfacets","volume":"abs 1412 7884","author":"zhang","year":"2014","journal-title":"CoRR"},{"key":"ref10","first-page":"2179","article-title":"Monocular pedestrian detection: Survey and experiments","volume":"31","author":"gavrila","year":"2008","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2009.122"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2015.2462355"},{"key":"ref13","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"Orb-slam: A versatile and accurate monocular slam system","volume":"31","author":"mur-artal","year":"2015","journal-title":"IEEE Transactions on Robotics"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995835"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569569"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2409889"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979561"},{"key":"ref18","article-title":"A Discriminative Deep Model for Pedestrian Detection with Occlusion Handling","author":"ouyang","year":"2012","journal-title":"Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139871"},{"key":"ref28","article-title":"AprilTag 2: Ef cient and Robust Fiducial Detection","author":"wang","year":"2016","journal-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS)"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.249"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-67361-5_38"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.5120\/17579-8345"},{"key":"ref6","article-title":"Direct sparse odometry","volume":"abs 1607 2565","author":"engel","year":"2016","journal-title":"CoRR"},{"key":"ref29","article-title":"A survey on non lter-based monocular visual SLAM systems","volume":"abs 1607 470","author":"younes","year":"2016","journal-title":"CoRR"},{"key":"ref5","first-page":"354","article-title":"A uni ed multi-scale deep convolutional neural network for fast object detection","author":"cai","year":"2016","journal-title":"European Conference on Computer Vision"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-009-0243-z"},{"key":"ref7","article-title":"Random lens imaging","author":"fergus","year":"2006","journal-title":"CSAIL Technical Report"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2400420"},{"key":"ref9","article-title":"Tracking of Occluded Vehicles in Traf c Scenes","author":"frank","year":"1996","journal-title":"Proceedings of the European Conference on Computer Vision (ECCV)"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1145\/2486001.2486039"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-24785-9_64"},{"key":"ref22","first-page":"1","article-title":"Looking at vehicles in the night: Detection and dynamics of rear lights","volume":"99","author":"satzoda","year":"2016","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2014.108"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2266661"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2494586"},{"key":"ref26","article-title":"Embedding vision-based advanced driver assistance systems: a survey","author":"velez","year":"2016","journal-title":"IET Intelligent Transport Systems"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(01)00069-8"}],"event":{"name":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Macau, China","start":{"date-parts":[[2019,11,3]]},"end":{"date-parts":[[2019,11,8]]}},"container-title":["2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8957008\/8967518\/08967554.pdf?arnumber=8967554","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,5]],"date-time":"2025-09-05T18:08:07Z","timestamp":1757095687000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8967554\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11]]},"references-count":31,"URL":"https:\/\/doi.org\/10.1109\/iros40897.2019.8967554","relation":{},"subject":[],"published":{"date-parts":[[2019,11]]}}}