IEEE Transactions on Intelligent Vehicles

Article	Citations
The Transactions on Intelligent Vehicles	332
BOC-FPDNet: BOC First arrival Path Detection in Multipath Channel for GNSS Positioning	307
Radar Odometry for Autonomous Ground Vehicles: A Survey of Methods and Datasets	281
Coaxial Tilt-Rotor UAV: Fixed-time Control, Mixer, and Flight Test	201
Efficient Data Collection for Connected Vehicles With Embedded Feedback-Based Dynamic Feature Selection	156
ORNet: Orthogonal Re-Parameterized Networks for Fast Pedestrian and Vehicle Detection	137
Internet of Vehicular Intelligence: Enhancing Connectivity and Autonomy in Smart Transportation Systems	131
Expression of Concern for: DSiV: Data Science for Intelligent Vehicles	124
Occlusion-Aware Planning for Autonomous Driving With Vehicle-to-Everything Communication	123
Efficient and Deterministic Search Strategy Based on Residual Projections for Point Cloud Registration With Correspondences	120
Robust Online Predictive Visual Servoing for Autonomous Landing of a Rotor UAV	119
Path Optimization-based Online Data-driven Obstacle Avoidance Trajectory Planning for Intelligent Vehicles	113
Integrity Management of the Reachable Space With Lane Grid Maps	109
Lane-Level Navigation Based Eco-Approach	108
Adaptive Training for Robust Object Detection in Autonomous Driving Environments	105
Adaptive NN Event-Triggered Output Feedback Control for Heterogeneous Vehicular Platoon Systems with Switching Topologies	104
Priority-driven Multi-objective Model Predictive Control for Integrated Motion Control and Energy Management of Hybrid Electric Vehicles	102
Intelligent Caching for Seamless High-Quality Streaming in Vehicular Networks: A Multi-Agent Reinforcement Learning Approach	102
A priority-based hierarchical framework for k-robust multi-agent path finding	98
Driver Modeling Using a Continuous Policy Space: Theory and Traffic Data Validation	94
SACINet: Semantic-Aware Cross-Modal Interaction Network for Real-Time 3D Object Detection	94
Traj-LLM: A New Exploration for Empowering Trajectory Prediction With Pre-Trained Large Language Models	92
Human-Like Implicit Intention Expression for Autonomous Driving Motion Planning Based on Learning Human Intenion Priors	90
Game-Generative Adversarial Imitation Learning for Pedestrian Simulation During Pedestrian-Vehicle Interaction	84
Event-Triggered Dynamic Formation Tracking of Linear Multi-Agent System Under Denial of Service Attacks	84

Fixed-Time Consensus Based on a Fractional Adaptive Gain for Multi-Agent Systems	82
InstKD: Towards Lightweight 3D Object Detection With Instance-Aware Knowledge Distillation	81
LiDAR-based Road Height Profile Estimation and Bump Detection for Preview Suspension	79
Analysis of Driving Behavior in Unprotected Left Turns for Autonomous Vehicles using Ensemble Deep Clustering	78
Socially Adaptive Path Planning Based on Generative Adversarial Network	78
IEEE Transactions on Intelligent Vehicles Publication Information	77
An Active Robot Object Search Strategy Based on Probabilistic Voronoi Diagram and POMDP	76
An Efficient High-Risk Lane-Changing Scenario Edge Cases Generation Method for Autonomous Vehicle Safety Testing	75
Secure Estimation Using Partially Homomorphic Encryption for Unmanned Aerial Systems in the Presence of Eavesdroppers	75
A Review of HMM-Based Approaches of Driving Behaviors Recognition and Prediction	74
A Bi-Level Network-Wide Cooperative Driving Approach Including Deep Reinforcement Learning-Based Routing	74
A Privacy-Preserving Data Aggregation Protocol for Internet of Vehicles with Federated Learning	72
Mixed-Integer Motion Planning on German Roads Within the Apollo Driving Stack	72
Real-Time High-Precision Nonlinear Tracking Control of Autonomous Vehicles Using Fast Iterative Model Predictive Control	71
Finite-Time Command-Filtered Lateral-Longitudinal Formation Control of Vehicles on Rough Roads	69
Segmentation of Road Negative Obstacles Based on Dual Semantic-Feature Complementary Fusion for Autonomous Driving	67
Cybersecurity on Connected and Automated Transportation Systems: A Survey	66
Computationally Efficient Energy Management for a Parallel Hybrid Electric Vehicle Using Adaptive Dynamic Programming	66
A Survey on Self-Evolving Autonomous Driving: A Perspective on Data Closed-Loop Technology	64
Value of Temporal Dynamics Information in Driving Scene Segmentation	64
ACP-Incorporated Perturbation-Resistant Neural Dynamics Controller for Autonomous Vehicles	63
Optimization-Based Approach for Resilient Connected and Autonomous Intersection Crossing Traffic Control Under V2X Communication	63
Increasing the Efficiency of Policy Learning for Autonomous Vehicles by Multi-Task Representation Learning	63
One of the Most Influential Reference Resources for Engineers Around the World	62
Sensor Fusion-based Classification Fault-tolerant System for Detected Objects in Autonomous Cars	62
The Transactions on Intelligent Vehicles Information	62
Controlling Automated Vehicles on Large Lane-Free Roundabouts	62
Table of Contents	62
Resilient Platoon Operation Control of Heterogeneous Heavy-Haul Trains in Complex Environments	61
Awareness Messages by Vulnerable Road Users and Vehicles: Field Tests via LTE-V2X	61
Semantic-Aware Video Compression for Automotive Cameras	61
Dynamic Event-Triggered Consensus Cost-Based Switching Control for UAV Formation With Disturbances	59
A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlook	58
Sora for Social Vision With Parallel Intelligence: Social Interaction in Intelligent Vehicles	58
Parallel Vision for Long-Tail Regularization: Initial Results From IVFC Autonomous Driving Testing	57
Reliable Global Path Planning of Off-Road Autonomous Ground Vehicles Under Uncertain Terrain Conditions	57
Exploiting Linear Structure for Precision Control of Highly Nonlinear Vehicle Dynamics	57
Real-Time Heterogeneous Road-Agents Trajectory Prediction Using Hierarchical Convolutional Networks and Multi-Task Learning	57
Collision Avoidance for Autonomous Vehicles Based on MPC With Adaptive APF	56
A Joint Optimization of Beam Distribution and Deployment for Roadside LiDAR Systems to Maximize Vehicle Perception	55
Lightweight Edge Intelligence Empowered Near-Crash Detection Towards Real-Time Vehicle Event Logging	54
AiOENet: All-in-One Low-Visibility Enhancement to Improve Visual Perception for Intelligent Marine Vehicles Under Severe Weather Conditions	54
Siting and Sizing Charging Infrastructure for Electric Vehicles With Coordinated Recharging	54
Automated Vehicle Platooning: A Two-Stage Approach Based on Vehicle-Road Cooperation	53
TechRxiv: Share Your Preprint Research with the World!	53
Disturbance Observer-Based Finite-Time Braking Control of Vehicular Platoons	53
Expression of Concern for: The Use of Intelligent Vehicles and Artificial Intelligence in Mining Operations: Ethics, Responsibility, and Sustainability	51
Adaptive Crash-Avoidance Predictive Control Under Multi-Vehicle Dynamic Environment for Intelligent Vehicles	50
Variable Tube-Based Model Predictive Trajectory Tracking Control Strategy with Adaptive Load for Automatic Truck	50
A Dynamic Synchronous Interactive Functional Validation Approach for Electric Vehicles	50

MH-Net: Multiheaded 3D Hand Pose Estimation Network With 3D Anchorsets and Improved Multiscale Vision Transformer	50
Trajectory Grid Diffusion for Multimodal Trajectory Prediction in Autonomous Vehicles	50
Transferring From Automated to Manual Driving When Traversing a Curve via Haptic Shared Control	50
Dynamics modeling for autonomous container trucks considering unknown parameters	50
WING: Wheel-Inertial Neural Odometry With Ground Manifold Constraints	49
A Secured Vehicle Brain: DAO-Based Collaborative Perception and Decision-Making Systems for Intelligent Vehicles in CPSS	49
Haptic Assistive Control With Learning-Based Driver Intent Recognition for Semi-Autonomous Vehicles	49
Towards more precise and robust positioning in urban environments through an enhanced FGO-based GNSS RTK framework	49
High-Order Structural Relation Distillation Networks From LiDAR to Monocular Image 3D Detectors	49
LightCast: Efficient Traffic Flow Forecasting via an Integrated Compression Framework	49
Vehicle Braking Stability Control with Variable Ratio Braking Forces Optimization Distribution during Cornering Braking Process	49
Standard Datasets for Autonomous Navigation and Mapping: A Full-Stack Construction Methodology	48
Trust Mechanism Privacy Protection Scheme Combining Blockchain and Multi-Party Evaluation	48
AI Safety Assurance for Automated Vehicles: A Survey on Research, Standardization, Regulation	47
MDFD2-DETR: A Real-Time Complex Road Object Detection Model Based on Multi-Domain Feature Decomposition and De-Redundancy	47
IEEE Transactions on Intelligent Vehicles Publication Information	46
RL-Driven MPPI: Accelerating Online Control Laws Calculation With Offline Policy	46
Multi-branch Differential Bidirectional Fusion Network for RGB-T Semantic Segmentation	45
Automated Valet Parking and Charging: A Dynamic Pricing and Reservation-Based Framework Leveraging Multi-Agent Reinforcement Learning	45
Hybrid State Observer Design for Estimating the Hitch Angles of Tractor-Multi Unit Trailer	45
Diversified Critical-Scenario-Search for Defect Detection of Autonomous Driving System	45
Object-Level Semantic and Velocity Feedback for Dynamic Occupancy Grids	45
VSG: Visual Servo Based Geolocalization for Long-Range Target in Outdoor Environment	45
Deep Adaptive Control: Deep Reinforcement Learning-Based Adaptive Vehicle Trajectory Control Algorithms for Different Risk Levels	45
RoadFormer: Duplex Transformer for RGB-Normal Semantic Road Scene Parsing	44
Collision-Free Finite-Time Adaptive Fuzzy Output-Feedback Formation Control for Unmanned Surface Vehicle Systems	44
Intelligent Vehicle Carriers to Support General Civilian Purposes	44
Chat With ChatGPT on Intelligent Vehicles: An IEEE TIV Perspective	44
Study and Analysis of Human Discomfort in Autonomous Vehicles	43
CR2-Net: Component Relationship Reasoning Network for Traffic Text Detection	43
Immersion-and-Invariance Fuzzy Adaptive Image-Based Visual Servoing of Omnidirectional Mobile Robots Considering Uncertain Feature Point Dynamics	43
Implicit predictive behavior cloning for autonomous driving decision-making in urban traffic	42
CDC-YOLOFusion: Leveraging Cross-Scale Dynamic Convolution Fusion for Visible-Infrared Object Detection	42
Integrated Path-Tracking and Combined-Slip Force Controls of Autonomous Ground Vehicles With Safe Constraints Adaptation	42
Fast Online Computation of MPC-based Integrated Decision Control for Autonomous Vehicles	42
Coordinated Cooperative Distributed Decision-Making Using Synchronization of Local Plans	42
PolarGFusion3D: Polar Graph Fusion Network for Enhanced Multimodal 3D Perception in Intelligent Vehicles	42
Adaptive sliding mode control for vehicle active anti-roll system based on property adjustable barrier function	42
Scheduling Aerial Vehicles in Large Scale Urban Air Mobility Schemes with Vehicle Relocation	41
Enhancing Rule-Based Hands-Off Detection with Deep Learning and Permutation Feature Analysis	41
Joint Sensing and Processing Resource Allocation in Vehicular Ad-Hoc Networks	41
Expression of Concern for: ACP-Based Energy-Efficient Schemes for Sustainable Intelligent Transportation Systems	41
Integration of Vehicle Dynamic Model and System Identification Model for Extending the Navigation Service Under Sensor Failures	41
Self-Supervised Adaptive Weighting for Cooperative Perception in V2V Communications	41
Expression of Concern for: Development and Testing of Advanced Driver Assistance Systems Through Scenario-Based Systems Engineering	41
Occlusion-Aware Motion Planning at Roundabouts	41
CoRange: Collaborative Range-aware Adaptive Fusion for Multi-Agent Perception	40
Finite-Time Control of Vehicular Platoons With Global Prescribed Performance and Actuator Nonlinearities	40
Human-Inspired Autonomous Racing in Low Friction Environments	40
Energy-Efficient Reactive and Predictive Connected Cruise Control	39
Supremal and Robust Control against Actuator Jamming Attacks in Cyber-Physical Systems	39
Joint Fuel-optimal Control of the Velocity and Power-split of Hybrid Electric Vehicles	39
Advanced Scenario Generation for Calibration and Verification of Autonomous Vehicles	39
Cross-Modal Supervision-Based Multitask Learning With Automotive Radar Raw Data	39
A Hierarchical Intention Inference Model for Connected and Automated Vehicles	39
LiDAR-Camera Fusion in Perspective View for 3D Object Detection in Surface Mine	39
Refined Crack Detection via LECSFormer for Autonomous Road Inspection Vehicles	38
LF-PGVIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras using Points and Geodesic Segments	38
Dynamic Resource Allocation in Queue-Constrained and Delay-Sensitive Vehicular Networks	38
Trajectory Optimization for Heavy Haul Train With Pneumatic Braking via QCMIP	38
Dependency-Aware Vehicular Task Scheduling Policy for Tracking Service VEC Networks	38
Longitudinal Control of Autonomous Vehicles Consisting Power-Train With Non-Linear Characteristics	37
Estimation of Driver’s Gaze Region From Head Position and Orientation Using Probabilistic Confidence Regions	37
A Parallel Emission Regulatory System for Intelligent Transportation: The Generic Framework and Its Case Study on NOx	36
Bi-AM-RRT*: A Fast and Efficient Sampling-Based Motion Planning Algorithm in Dynamic Environments	36
Event-Triggered Adaptive Fault-Tolerant Control Based on Sliding Mode/Neural Network for Lane Keeping Assistance Systems in Steer-by-Wire Vehicles	36
Output-Feedback Flexible Performance-Based Safe Formation for Underactuated Unmanned Surface Vehicles	36
Adaptive Bioinspired Preview Suspension Control With Constrained Velocity Planning for Autonomous Vehicles	36
Scene-Adaptive 3D Semantic Segmentation Based on Multi-Level Boundary-Semantic-Enhancement for Intelligent Vehicles	36
Vehicle State Recovery: A Tailored Laplace Function-based Tensor Completion Approach	36
Research on Coordinated Control of Braking Mode Switching for Enhancing Switching Quality Considering Communication Delay and Time-Varying Model Parameters	36
Train-Centric Communication Based Autonomous Train Control System	36
A Model-free Combined Energy and Thermal Management Strategy for HEVs Based on Reinforcement-Learning Under Low-Temperature	35
TechRxiv: Share Your Preprint Research with the World!	35
P-V Plane Based Active Fault-Tolerant Control Trajectory Tracking for Dish-Shaped AUV Against Complete Failure of Multiple Propellers	35
mVLINS: A Multilevel Visual-LiDAR-Inertial Navigation System with Completely Decoupled Odometry and Adaptive Environmental Mapping	35
Thermal Infrared Single-Pedestrian Tracking for Advanced Driver Assistance System	35
The Transactions on Intelligent Vehicles Information	35
A Polytopic Model-Based Robust Predictive Control Scheme for Path Tracking of Autonomous Vehicles	34
A New Model-Free Shared Control for Lane-Keeping Assist System: Theory and Experimental Validation	34

Deep Neural Networks With Koopman Operators for Modeling and Control of Autonomous Vehicles	34
3D Lane Detection From Front or Surround-View Using Joint-Modeling & Matching	34
Neural Network Model-Based Reinforcement Learning Control for AUV 3-D Path Following	34
A Learning-based Path Tracking Framework Integrating Chance-aware TRFC Estimation and Control for Autonomous Electric-wheel Vehicle	34
Verification and Validation Methods for Decision-Making and Planning of Automated Vehicles: A Review	34
Using Reachable Sets for Trajectory Planning of Automated Vehicles	34
IEEE Transactions on Intelligent Vehicles	33
IEEE Transactions on Intelligent Vehicles Publication Information	33
Efficient Trajectory Planning for Autonomous Vehicles Using Quadratic Programming With Weak Duality	33
Table of Contents	33
DSiV: Data Science for Intelligent Vehicles	32
Expression of Concern for: Society-Centered and DAO-Powered Sustainability in Transportation 5.0: An Intelligent Vehicles Perspective	32
Expression of Concern for: From Formula One to Autonomous One: History, Achievements, and Future Perspectives	32
A Nash-Stackelberg Game Theoretic Planner for Many-to-few Multi-vehicle Racing	32
MS-SLAM: Multiple Input Multiple Output Synthetic Aperture Radar Simultaneous Localization and Mapping	32
Exploring the Economic Feasibility of Advanced Air Mobility in the Early Stages	32
Cooperative Control of Active Suspension and FourWheel Steering for Intelligent Electric Vehicles with Corner Module Structure on Severe Roads	32
Vehicle 5.0: From Driverless Vehicles for ITS in CPS to MetaDriving for Smart Mobility in CPSS	32
Expression of Concern for: Advanced Scenario Generation for Calibration and Verification of Autonomous Vehicles	32
IMPS: Informative Map Point Selection for Visual-Inertial SLAM	31
RangePlace: A Hierarchical Range Image Transformer for LiDAR-Based Place Recognition	31
ARC: Automotive Radar Consistency Regularization for Semi-Supervised Learning	31
A Note of Thanks	31
Optimal Deceptive Strategy Synthesis for Autonomous Systems under Asymmetric Information	31
Engine Fuel Consumption Modelling Using Prediction Error Identification and On-Road Data	31
LQCANet: Learnable-Query-Guided Multi-Scale Fusion Network Based on Cross-Attention for Radar Semantic Segmentation	31
Spatial and Temporal Awareness Network for Semantic Segmentation on Automotive Radar Point Cloud	31
Normal Transformer: Extracting Surface Geometry from LiDAR Points Enhanced by Visual Semantics	30
Gaze Preserving CycleGANs for Eyeglass Removal and Persistent Gaze Estimation	30
Adaptive Correction of Landmark for Visual Homing in Mobile Vehicles	30
Towards Efficient Intermittent-Propulsion Mode of a Novel Bioinspired Underwater Vehicle	30
LiDAR Place Recognition Based on Range Image and Column-Shift-Invariant Attention	30
Robust Bidirectional Platoon Control for Mesh Stability of Vehicular Systems With Uncertain Kinematics and Dynamics	30
Cascade Learning for Driver Facial Monitoring	30
An Efficient Multilayered Linkable Ring Signature Scheme With Logarithmic Size for Anonymous Payment in Vehicle-to-Grid Networks	30
Federated Intelligence for Intelligent Vehicles	30
Active Parallel Teacher for Human-in-the-Loop Sim2Real Object Detection in Autonomous Haulage Trucks	30
Table of Contents	29
Bidirectional Polytope Trees to Optimal Formation Path Planning for Reconfigurable Modular Robots	29
Distributed-Observer-Based Distributed Control Law for Affine Nonlinear Systems and Its Application on Interconnected Cruise Control of Intelligent Vehicles	29
Enabling Seamless Data Security, Consensus, and Trading in Vehicular Networks	29
High-Definition Maps Construction Based on Visual Sensor: A Comprehensive Survey	29
L-Shape Fitting-Based Vehicle Pose Estimation and Tracking Using 3D-LiDAR	29
Lateral Shared Sliding Mode Control for Lane Keeping Assist System in Steer-by-Wire Vehicles: Theory and Experiments	29
Mining 5.0: Concept and Framework for Intelligent Mining Systems in CPSS	29
Planning-Inspired Hierarchical Trajectory Prediction via Lateral-Longitudinal Decomposition for Autonomous Driving	28
Efficient and Robust Object Detection Against Multi-Type Corruption Using Complete Edge Based on Lightweight Parameter Isolation	28
Interaction-Aware Decision-Making for Automated Vehicles Using Social Value Orientation	28
A Zeroing Neural Network-Based Approach to Parameter-Varying Platooning Control of Connected Automated Vehicles	28
Online Trajectory Replanning for Sudden Environmental Changes During Automated Parking: A Parallel Stitching Method	28
Speed Profile Generation Strategy for Efficient Merging of Automated Vehicles on Roundabouts With Realistic Traffic	28
Learn From Voxels: Knowledge Distillation for Pillar-Based 3D Object Detection With LiDAR Point Clouds in Autonomous Driving	28
Proximal Policy Optimization for RIS-Assisted Full Duplex 6G-V2X Communications	27
Comparison of Deep Reinforcement Learning and Model Predictive Control for Adaptive Cruise Control	27
EPtask: Deep Reinforcement Learning Based Energy-Efficient and Priority-Aware Task Scheduling for Dynamic Vehicular Edge Computing	27
Fault-Tolerant Formation Control for Leader-Follower Flight Vehicles Under Malicious Attacks	27
Automatic Multi-Camera Calibration and Refinement Method in Road Scene for Self-Driving Car	27
Real-Time Dynamic Map With Crowdsourcing Vehicles in Edge Computing	27
HYDRO-3D: Hybrid Object Detection and Tracking for Cooperative Perception Using 3D LiDAR	27
Multi-Modal Feature Constraint Based Tightly Coupled Monocular Visual-LiDAR Odometry and Mapping	27
Bi-Level Optimization of Speed Trajectory and Power Management for Autonomous HEVs in Off-Road Scenarios	27
CAFI-Pillars: Infusing Geometry Priors for Pillar-Based 3D Detectors Through Centroid-Aware Feature Interaction	27
UAV-Assisted IoT Applications, Cybersecurity Threats, AI-Enabled Solutions, Open Challenges With Future Research Directions	27
Integration of Multi-Vehicle Prediction and Planning Based on Social Value Orientation in Mixed Traffic	27
The Transactions on Intelligent Vehicles	26
Implicit Scene Context-aware Interactive Trajectory Prediction for Autonomous Driving	26
Fail-Safe Behavior and Motion Planning Incorporating Shared Control for Potential Driver Intervention	26
Remote Driving of Road Vehicles: A Survey of Driving Feedback, Latency, Support Control, and Real Applications	26
TechRxiv: Share Your Preprint Research with the World!	26
Introducing IEEE Collabratec	26
The Transactions on Intelligent Vehicles Information	26
IEEE Transactions on Intelligent Vehicles Publication Information	26
Simultaneous Compensation of Actuation and Communication Delays for Heterogeneous Platoons via Predictor-Feedback CACC with Integral Action	25
Optimization of Lane-changing Advisory in Mixed Traffic of Connected Vehicles and Human-driven Vehicles at Expressway Bottlenecks	25
Distributed Robust Learning Based Formation Control of Mobile Robots Based on Bioinspired Neural Dynamics	25
Real-time Road Surface LiDAR SLAM based on Dead-Reckoning Assisted Registration	25
Drivers' Rear-end Conflict Risk Avoidance Behaviors Prediction Based on Natural Driving Data	25
Localization Using Global Magnetic Positioning System for Automated Driving Bus and Intervals for Magnetic Markers	25
Connected Autonomous Vehicle Control Strategy for Mandatory Lane-Changing At Intersection: A Cyber-Physical System Perspective	25
Extended Object Tracking Using Spatially Resolved Micro-Doppler Signatures	24
Let-It-Flow: Simultaneous Optimization of 3D Flow and Object Clustering	24
Stipulated-time Formation Control of Networked Marine Surface Vehicles	24
Intelligent Vehicles From Your HomePorts to Underwaters and Low Attitude Airspaces: SLAM for Smart Societies	24
Enhancing visual tracking with a unified temporal Transformer framework	24
Intelligent Vehicles for Sustainability Industry: Call for Nomination and Participation	24
Optimal Rigid Graph-Based Cooperative Formation Control of AUVs in Anchor-Free Environments	24
An Enabling Trajectory Planning Scheme for Lane Change Collision Avoidance on Highways	24
Improving 3D Vulnerable Road User Detection With Point Augmentation	24
Omni Point Air: LiDAR and Point Cloud Map-Based Place Recognition and Pose Estimation for Advanced Air Mobility in GNSS-Denied Environments	24
PagerBombs and Intelligent Vehicles: Stop Weaponing Supply Chains with Blockchain Intelligence	23
Safety Monitoring of Neural Networks Using Unsupervised Feature Learning and Novelty Estimation	23
Mobile Robot Collision Avoidance Based on Deep Reinforcement Learning with Motion Constraints	23
A Demand-based Placement of Optimal EV Fast Charging Stations in Urban Transportation Network	23
MCHFormer: A Multi-Cross Hybrid Former of Point-Image for 3D Object Detection	23
Convolutional Unscented Kalman Filter for Multi-Object Tracking with Outliers	23