{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T01:48:21Z","timestamp":1779328101060,"version":"3.51.4"},"reference-count":38,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2014,1,1]],"date-time":"2014-01-01T00:00:00Z","timestamp":1388534400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Intell. Transport. Syst. Mag."],"published-print":{"date-parts":[[2014]]},"DOI":"10.1109\/mits.2014.2306552","type":"journal-article","created":{"date-parts":[[2014,4,22]],"date-time":"2014-04-22T18:03:28Z","timestamp":1398189808000},"page":"8-20","source":"Crossref","is-referenced-by-count":723,"title":["Making Bertha Drive\u2014An Autonomous Journey on a Historic Route"],"prefix":"10.1109","volume":"6","author":[{"given":"Julius","family":"Ziegler","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Philipp","family":"Bender","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Markus","family":"Schreiber","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Henning","family":"Lategahn","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tobias","family":"Strauss","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Christoph","family":"Stiller","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Thao Dang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Uwe","family":"Franke","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nils","family":"Appenrodt","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Christoph G.","family":"Keller","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eberhard","family":"Kaus","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ralf G.","family":"Herrtwich","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Clemens","family":"Rabe","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Pfeiffer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Frank","family":"Lindner","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fridtjof","family":"Stein","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Friedrich","family":"Erbs","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Markus","family":"Enzweiler","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Carsten","family":"Knoppel","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jochen","family":"Hipp","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Martin","family":"Haueis","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maximilian","family":"Trepte","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Carsten","family":"Brenk","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andreas","family":"Tamke","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mohammad","family":"Ghanaat","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Markus","family":"Braun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Armin","family":"Joos","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hans","family":"Fritz","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Horst","family":"Mock","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Martin","family":"Hein","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eberhard","family":"Zeeb","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2004.1336433"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500304"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2004.60"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6423(87)90035-9"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2013.6629509"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2008.4621302"},{"key":"ref36","author":"nocedal","year":"2006","journal-title":"Numerical Optimization"},{"key":"ref35","author":"kaw","year":"2010","journal-title":"Numerical methods with applications"},{"key":"ref34","author":"pacejka","year":"2012","journal-title":"Tire and Vehicle Dynamics"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2013.6629559"},{"key":"ref11","first-page":"807","article-title":"Accurate and efficient stereo processing by semiglobal matching and mutual information","author":"hirschm\u00fcller","year":"0","journal-title":"Proc IEEE Computer Society Conf Computer Vision Pattern Recognition"},{"key":"ref12","first-page":"134","article-title":"A real-time low-power stereo vision engine using semi-global matching","author":"gehrig","year":"0","journal-title":"Proc Int Conf Computer Vision Systems"},{"key":"ref13","article-title":"The stixel world—A compactmedium level representation of the 3D-world","author":"badino","year":"0","journal-title":"Proc DAGM"},{"key":"ref14","first-page":"51.1","article-title":"Towards a global optimal multi-layer stixelrepresentation of dense 3D data","author":"pfeiffer","year":"0","journal-title":"Proc British Machine Vision Conf"},{"key":"ref15","first-page":"216","article-title":"6D-vision: Fusion of stereo and motion for robust environment perception","author":"franke","year":"0","journal-title":"Proc DAGM"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2010.5548114"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.5244\/C.26.71"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2011.2142006"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2005.177"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/64.491277"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2014.2298492"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.1994.639472"},{"key":"ref27","first-page":"719","article-title":"Urban localizationwith camera and inertial measurement unit","author":"lategahn","year":"0","journal-title":"Proc IEEE Intelligent Vehicles Symp"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20255"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20147"},{"key":"ref29","first-page":"902","article-title":"Towards multicue urban curb recognition","author":"enzweiler","year":"0","journal-title":"Proc 2013 IEEE Intell Vehicles Symp"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2189882"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20252"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.1994.639486"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/21.61200"},{"key":"ref9","year":"2013","journal-title":"Vislab"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/72.809100"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2013.36"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2009.5206638"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2004.1336354"},{"key":"ref23","first-page":"1066","article-title":"Efficient stixelbased object recognition","author":"enzweiler","year":"0","journal-title":"Proc Intelligent Vehicles Symp"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICVES.2012.6294279"},{"key":"ref25","article-title":"OpenStreetMap","author":"ramm","year":"2007"}],"container-title":["IEEE Intelligent Transportation Systems Magazine"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/5117645\/6803919\/06803933.pdf?arnumber=6803933","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T16:19:31Z","timestamp":1642004371000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6803933\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014]]},"references-count":38,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/mits.2014.2306552","relation":{},"ISSN":["1939-1390"],"issn-type":[{"value":"1939-1390","type":"print"}],"subject":[],"published":{"date-parts":[[2014]]}}}