{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,28]],"date-time":"2026-10-28T17:06:33Z","timestamp":1793207193783,"version":"4.5.0"},"reference-count":20,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2006,1,1]],"date-time":"2006-01-01T00:00:00Z","timestamp":1136073600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2006,1]]},"abstract":"<jats:p>Reliable and efficient perception and reasoning in dynamic and densely cluttered environments are still major challenges for driver assistance systems. Most of today\u2019s systems use target tracking algorithms based on object models. They work quite well in simple environments such as freeways, where few potential obstacles have to be considered. However, these approaches usually fail in more complex environments featuring a large variety of potential obstacles, as is usually the case in urban driving situations. In this paper, we propose a new approach for robust perception and risk assessment in highly dynamic environments. This approach is called Bayesian occupancy filtering; it basically combines a four-dimensional occupancy grid representation of the obstacle state space with Bayesian filtering techniques.<\/jats:p>","DOI":"10.1177\/0278364906061158","type":"journal-article","created":{"date-parts":[[2006,2,2]],"date-time":"2006-02-02T05:03:20Z","timestamp":1138856600000},"page":"19-30","source":"Crossref","is-referenced-by-count":194,"title":["Bayesian Occupancy Filtering for Multitarget Tracking: An Automotive Application"],"prefix":"10.1177","volume":"25","author":[{"given":"Christophe","family":"Cou\u00e9","sequence":"first","affiliation":[{"name":"INRIA, Rh\u00f4ne-Alpes and Gravir-CNRS"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"C\u00e9dric","family":"Pradalier","sequence":"additional","affiliation":[{"name":"INRIA, Rh\u00f4ne-Alpes and Gravir-CNRS,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Christian","family":"Laugier","sequence":"additional","affiliation":[{"name":"INRIA, Rh\u00f4ne-Alpes and Gravir-CNRS"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Thierry","family":"Fraichard","sequence":"additional","affiliation":[{"name":"INRIA, Rh\u00f4ne-Alpes and Gravir-CNRS"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pierre","family":"Bessi\u00e8re","sequence":"additional","affiliation":[{"name":"INRIA, Rh\u00f4ne-Alpes and Gravir-CNRS"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2006,1,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(00)00117-2"},{"key":"atypb2","volume-title":"Multitarget Multisensor Tracking: Principles and Techniques","author":"Bar-Shalom, Y.","year":"1995"},{"key":"atypb3","volume-title":"Design and Analysis of Modern Tracking Systems","author":"Blackman, S.","year":"2000"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(90)90060-D"},{"key":"atypb5","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Cou\u00e9, C."},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/2.30720"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/7.625121"},{"key":"atypb8","volume-title":"Stochastic Processes and Filtering Theory","author":"Jazwinsky, A. H.","year":"1970"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(98)00023-X"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1115\/1.3662552"},{"key":"atypb11","unstructured":"Lebeltel, O. 1999. Programmation Bay\u00e9sienne des Robots.                 Th\u00e8se de doctorat, Institut National Polytechnique de Grenoble, Grenoble,                 France, September."},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1023\/B:AURO.0000008671.38949.43"},{"key":"atypb13","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Le Hy, R."},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1163\/156855301750095578"},{"issue":"2","key":"atypb15","first-page":"61","volume":"9","author":"Moravec, H. P.","year":"1988","journal-title":"AI Magazine"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008997110534"},{"key":"atypb17","volume-title":"Probabilistic multi-hypothesis tracking","author":"Streit, R. L.","year":"1995"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(97)00078-7"},{"key":"atypb19","volume-title":"Exploring Artificial Intelligence in the New Millennium","author":"Thrun, S.","year":"2002"},{"key":"atypb20","first-page":"842","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Wang, C-C."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906061158","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906061158","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:35Z","timestamp":1777457735000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364906061158"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2006,1]]},"references-count":20,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2006,1]]}},"alternative-id":["10.1177\/0278364906061158"],"URL":"https:\/\/doi.org\/10.1177\/0278364906061158","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2006,1]]}}}