{"id":"https://openalex.org/W3011355693","doi":"https://doi.org/10.1109/cacs47674.2019.9024355","title":"Fast Point Cloud Feature Extraction for Real-time SLAM","display_name":"Fast Point Cloud Feature Extraction for Real-time SLAM","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3011355693","doi":"https://doi.org/10.1109/cacs47674.2019.9024355","mag":"3011355693"},"language":"en","primary_location":{"id":"doi:10.1109/cacs47674.2019.9024355","doi":"https://doi.org/10.1109/cacs47674.2019.9024355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacs47674.2019.9024355","pdf_url":null,"source":{"id":"https://openalex.org/S4306418964","display_name":"International Automatic Control Conference","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Automatic Control Conference (CACS)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086781338","display_name":"Sheng\u2010Wei Lee","orcid":"https://orcid.org/0000-0002-6447-7495","observed_orcids":["https://orcid.org/0000-0002-6447-7495"]},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Sheng-Wei Lee","raw_affiliation_strings":["National Taipei University of Technology,Insitute of Manufacturing,Taipei,Taiwan","Insitute of Manufacturing, National Taipei University of Technology, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Taipei University of Technology,Insitute of Manufacturing,Taipei,Taiwan","institution_ids":["https://openalex.org/I118292597"]},{"raw_affiliation_string":"Insitute of Manufacturing, National Taipei University of Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050425068","display_name":"Chih-Ming Hsu","orcid":"https://orcid.org/0000-0002-2793-5231","observed_orcids":["https://orcid.org/0000-0002-2793-5231"]},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chih-Ming Hsu","raw_affiliation_strings":["National Taipei University of Technology,Department of Mechanical Engineering,Taipei,Taiwan","Department of Mechanical Engineering, National Taipei University of Technology, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Taipei University of Technology,Department of Mechanical Engineering,Taipei,Taiwan","institution_ids":["https://openalex.org/I118292597"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taipei University of Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101729597","display_name":"Ming-Che Lee","orcid":"https://orcid.org/0000-0002-4400-9109","observed_orcids":["https://orcid.org/0000-0002-4400-9109"]},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ming-Che Lee","raw_affiliation_strings":["National Taipei University of Technology,Department of Mechanical Engineering,Taipei,Taiwan","Department of Mechanical Engineering, National Taipei University of Technology, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Taipei University of Technology,Department of Mechanical Engineering,Taipei,Taiwan","institution_ids":["https://openalex.org/I118292597"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taipei University of Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091477574","display_name":"Yuan-Ting Fu","orcid":"https://orcid.org/0009-0009-7321-808X","observed_orcids":["https://orcid.org/0009-0009-7321-808X"]},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yuan-Ting Fu","raw_affiliation_strings":["National Taipei University of Technology,Insitute of Manufacturing,Taipei,Taiwan","Insitute of Manufacturing, National Taipei University of Technology, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Taipei University of Technology,Insitute of Manufacturing,Taipei,Taiwan","institution_ids":["https://openalex.org/I118292597"]},{"raw_affiliation_string":"Insitute of Manufacturing, National Taipei University of Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034351824","display_name":"Fetullah Atas","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Fetullah Atas","raw_affiliation_strings":["National Taipei University of Technology,Institute of Mechatronic Engineering,Taipei,Taiwan","Institute of Mechatronic Engineering, National Taipei University of Technology, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Taipei University of Technology,Institute of Mechatronic Engineering,Taipei,Taiwan","institution_ids":["https://openalex.org/I118292597"]},{"raw_affiliation_string":"Institute of Mechatronic Engineering, National Taipei University of Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110070953","display_name":"Augustine Tsai","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I3141939062","display_name":"Institute for Information Industry","ror":"https://ror.org/01d8kr740","country_code":"TW","type":"nonprofit","lineage":["https://openalex.org/I3141939062"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Augustine Tsai","raw_affiliation_strings":["Institute of Information Industry,Smart Network System Institute,Taipei,Taiwan","Smart Network System Institute, Institute of Information Industry, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information Industry,Smart Network System Institute,Taipei,Taiwan","institution_ids":["https://openalex.org/I3141939062"]},{"raw_affiliation_string":"Smart Network System Institute, Institute of Information Industry, Taipei, Taiwan","institution_ids":["https://openalex.org/I3141939062"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3221,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.61505138,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud-feature-extraction","display_name":"point cloud feature extraction","score":0.9760000109672546},{"id":"https://openalex.org/keywords/real-time-slam","display_name":"real-time SLAM","score":0.9760000109672546},{"id":"https://openalex.org/keywords/lidar","display_name":"LiDAR","score":0.7139999866485596},{"id":"https://openalex.org/keywords/parameter-adaptation","display_name":"parameter adaptation","score":0.7379999756813049},{"id":"https://openalex.org/keywords/outlier-removal","display_name":"outlier removal","score":0.5960000157356262},{"id":"https://openalex.org/keywords/lego-loam","display_name":"LeGO-LOAM","score":0.7630000114440918},{"id":"https://openalex.org/keywords/autonomous-driving-localization","display_name":"autonomous driving localization","score":0.5569999814033508},{"id":"https://openalex.org/keywords/gps-denied-localization","display_name":"GPS-denied localization","score":0.7559999823570251}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.919944703578949},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6835523843765259},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6771548986434937},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6379178762435913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5033854842185974},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5028466582298279},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.49884796142578125},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4675437808036804},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46219709515571594},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.42378589510917664},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.41983214020729065},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4183204770088196},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.27814075350761414},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20585954189300537},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1609230637550354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1334770917892456},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12784793972969055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11289283633232117},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09706586599349976},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0778876543045044},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cacs47674.2019.9024355","doi":"https://doi.org/10.1109/cacs47674.2019.9024355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacs47674.2019.9024355","pdf_url":null,"source":{"id":"https://openalex.org/S4306418964","display_name":"International Automatic Control Conference","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Automatic Control Conference (CACS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W87590009","https://openalex.org/W1526532716","https://openalex.org/W1567242735","https://openalex.org/W1602721901","https://openalex.org/W2029449100","https://openalex.org/W2033574012","https://openalex.org/W2051610568","https://openalex.org/W2052014837","https://openalex.org/W2089112725","https://openalex.org/W2106896169","https://openalex.org/W2133844819","https://openalex.org/W2135916547","https://openalex.org/W2145178709","https://openalex.org/W2148254631","https://openalex.org/W2150066425","https://openalex.org/W2171592532","https://openalex.org/W2277848489","https://openalex.org/W2284520540","https://openalex.org/W2316447390","https://openalex.org/W2563294506","https://openalex.org/W2566043628","https://openalex.org/W2575344258","https://openalex.org/W2586462056","https://openalex.org/W2791560303","https://openalex.org/W2798786289","https://openalex.org/W2897757554","https://openalex.org/W2909908358","https://openalex.org/W2913677331","https://openalex.org/W4249866455","https://openalex.org/W4254394490","https://openalex.org/W6603559779"],"related_works":["https://openalex.org/W4292873638","https://openalex.org/W4398762718","https://openalex.org/W4405124557","https://openalex.org/W4378220802","https://openalex.org/W4412346012","https://openalex.org/W7065923511","https://openalex.org/W7222701536","https://openalex.org/W4401502383","https://openalex.org/W3199805790","https://openalex.org/W4417249001"],"abstract_inverted_index":{"Automated":[0],"driving":[1],"has":[2],"been":[3],"developed":[4],"rapidly":[5],"in":[6,158,170,264],"the":[7,59,62,69,75,81,84,88,101,117,133,140,143,167,183,191,199,226,235,248,251,261],"past":[8],"five":[9],"years.":[10],"Many":[11],"automakers":[12],"have":[13,207],"popularized":[14],"SAE":[15],"Level":[16,28,31],"2":[17],"on":[18,23,37],"self-driving":[19],"cars,":[20],"some":[21],"even":[22,195],"regular":[24],"vehicles.":[25],"To":[26,202],"implement":[27],"3":[29],"or":[30,228],"4,":[32],"it's":[33],"necessary":[34],"to":[35,57,99,120,139,217],"rely":[36],"a":[38],"good":[39],"localization":[40],"system":[41],"when":[42,196],"GPS":[43],"signal":[44],"is":[45,73,78,96,173,198,255],"not":[46],"available.":[47],"For":[48],"this":[49,51,159,204],"need,":[50],"paper":[52],"proposes":[53],"two":[54,233],"effective":[55],"methods":[56,216],"increase":[58],"accuracy":[60,237],"of":[61,106,127,142,193,250],"real-time":[63,252],"SLAM:":[64],"The":[65,161],"first":[66],"method:":[67,163],"When":[68],"original":[70],"point":[71,76,108,118,147,165,177,212,221],"cloud":[72,77,109,119,213,222],"input,":[74],"divided":[79],"into":[80],"short-range":[82],"group,":[83],"medium-range":[85,134],"group":[86],"and":[87,135,185,258],"long-range":[89,136],"group.":[90],"An":[91],"adaptive":[92,144],"parameter":[93],"adjustment":[94],"method":[95],"then":[97],"used":[98,263],"obtain":[100],"optimal":[102],"parameters":[103],"for":[104,132],"each":[105],"these":[107,146,232],"groups.":[110],"However,":[111],"Lidar's":[112],"physical":[113],"characteristics":[114],"can":[115,155,187,238],"cause":[116],"be":[121,156,239],"insufficient,":[122],"making":[123],"an":[124],"important":[125],"part":[126],"points":[128],"misjudged":[129,152],"as":[130,153,182,225],"outliers":[131,154],"cases.":[137],"Thanks":[138],"help":[141],"parameters,":[145],"clouds,":[148,166],"which":[149,254],"were":[150],"originally":[151],"preserved":[157],"paper.":[160],"second":[162],"In":[164],"same":[168,200],"object":[169],"different":[171,176,210],"ranges":[172],"represented":[174],"with":[175,190],"clouds.":[178],"Hence,":[179],"features,":[180,223],"such":[181,224],"roughness":[184],"density,":[186],"dramatically":[188],"change":[189],"variation":[192],"distance":[194],"it":[197],"object.":[201],"solve":[203],"problem,":[205],"we":[206],"designed":[208],"three":[209],"range":[211],"feature":[214],"extraction":[215],"get":[218],"more":[219,243,256],"accurate":[220,257],"planes":[227],"edges.":[229],"By":[230],"combining":[231],"steps,":[234],"LeGO-LOAM":[236],"effectively":[240],"increased":[241],"by":[242],"than":[244,260],"30%":[245],"while":[246],"achieving":[247],"performance":[249],"SLAM,":[253],"faster":[259],"NDT-Mapping":[262],"Autoware.":[265]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2020-03-23T00:00:00"}
