{"id":"https://openalex.org/W2770532412","doi":"https://doi.org/10.1007/s41315-017-0038-2","title":"Global localization of 3D point clouds in building outline maps of urban outdoor environments","display_name":"Global localization of 3D point clouds in building outline maps of urban outdoor environments","publication_year":2017,"publication_date":"2017-11-22","ids":{"openalex":"https://openalex.org/W2770532412","doi":"https://doi.org/10.1007/s41315-017-0038-2","mag":"2770532412","pmid":"https://pubmed.ncbi.nlm.nih.gov/29250589"},"language":"en","primary_location":{"id":"doi:10.1007/s41315-017-0038-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s41315-017-0038-2","pdf_url":"https://link.springer.com/content/pdf/10.1007%2Fs41315-017-0038-2.pdf","source":{"id":"https://openalex.org/S4210177954","display_name":"International Journal of Intelligent Robotics and Applications","issn_l":"2366-5971","issn":["2366-5971","2366-598X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Robotics and Applications","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007%2Fs41315-017-0038-2.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038235911","display_name":"Christian Landsiedel","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christian Landsiedel","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Dirk Wollherr","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5038235911","https://openalex.org/A5061769472"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":7.452,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.9792852,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"1","issue":"4","first_page":"429","last_page":"441"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"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":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9991999864578247,"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","display_name":"Point cloud","score":0.7398989200592041},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7334240674972534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7045428156852722},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6724631786346436},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6202128529548645},{"id":"https://openalex.org/keywords/point-set-registration","display_name":"Point set registration","score":0.5575249195098877},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5484772324562073},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4763529300689697},{"id":"https://openalex.org/keywords/chamfer","display_name":"Chamfer (geometry)","score":0.45138153433799744},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.44517266750335693},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4224083125591278},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4073891341686249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40059730410575867},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.23585954308509827},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16701319813728333}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7398989200592041},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7334240674972534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7045428156852722},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6724631786346436},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6202128529548645},{"id":"https://openalex.org/C200336642","wikidata":"https://www.wikidata.org/wiki/Q15058706","display_name":"Point set registration","level":3,"score":0.5575249195098877},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5484772324562073},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4763529300689697},{"id":"https://openalex.org/C2776313386","wikidata":"https://www.wikidata.org/wiki/Q18018756","display_name":"Chamfer (geometry)","level":2,"score":0.45138153433799744},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.44517266750335693},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4224083125591278},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4073891341686249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40059730410575867},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.23585954308509827},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16701319813728333},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1007/s41315-017-0038-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s41315-017-0038-2","pdf_url":"https://link.springer.com/content/pdf/10.1007%2Fs41315-017-0038-2.pdf","source":{"id":"https://openalex.org/S4210177954","display_name":"International Journal of Intelligent Robotics and Applications","issn_l":"2366-5971","issn":["2366-5971","2366-598X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Robotics and Applications","raw_type":"journal-article"},{"id":"pmid:29250589","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29250589","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International journal of intelligent robotics and applications","raw_type":null},{"id":"pmh:oai:mediatum.ub.tum.de:node/1429166","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1429166","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1445919","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1445919","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:5727157","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5727157","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Int J Intell Robot Appl","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1007/s41315-017-0038-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s41315-017-0038-2","pdf_url":"https://link.springer.com/content/pdf/10.1007%2Fs41315-017-0038-2.pdf","source":{"id":"https://openalex.org/S4210177954","display_name":"International Journal of Intelligent Robotics and Applications","issn_l":"2366-5971","issn":["2366-5971","2366-598X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Robotics and Applications","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2770532412.pdf","grobid_xml":"https://content.openalex.org/works/W2770532412.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W4444735","https://openalex.org/W1541250175","https://openalex.org/W1563625711","https://openalex.org/W1594957066","https://openalex.org/W1680252513","https://openalex.org/W1967984006","https://openalex.org/W1972249796","https://openalex.org/W1981599814","https://openalex.org/W1989750313","https://openalex.org/W1996111598","https://openalex.org/W2011852571","https://openalex.org/W2014001040","https://openalex.org/W2019114950","https://openalex.org/W2031597059","https://openalex.org/W2049981393","https://openalex.org/W2058220625","https://openalex.org/W2077480559","https://openalex.org/W2092104450","https://openalex.org/W2101805040","https://openalex.org/W2113644556","https://openalex.org/W2132512702","https://openalex.org/W2144872034","https://openalex.org/W2148566104","https://openalex.org/W2151477068","https://openalex.org/W2155912251","https://openalex.org/W2161709502","https://openalex.org/W2399256064","https://openalex.org/W2476882019","https://openalex.org/W2516831520","https://openalex.org/W2550286251","https://openalex.org/W2554461401","https://openalex.org/W2567520225"],"related_works":["https://openalex.org/W2088651759","https://openalex.org/W2134508677","https://openalex.org/W4324094550","https://openalex.org/W2054153498","https://openalex.org/W4381747464","https://openalex.org/W4307266377","https://openalex.org/W1993689898","https://openalex.org/W2345979715","https://openalex.org/W3097019713","https://openalex.org/W2770532412"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,7,10,16,36,92,143],"method":[4,127,145],"to":[5,75,86,114,116,142,149],"localize":[6],"robot":[8],"in":[9,64,135],"global":[11,167],"coordinate":[12],"frame":[13],"based":[14,169],"on":[15,101,130,170],"sparse":[17,171],"2D":[18],"map":[19,82],"containing":[20],"outlines":[21],"of":[22,41,44,79,85,166],"building":[23,71,172],"and":[24,28,140,148],"road":[25],"network":[26],"information":[27],"no":[29],"location":[30],"prior":[31],"information.":[32],"Its":[33],"input":[34,118],"is":[35,128],"single":[37],"3D":[38],"laser":[39],"scan":[40],"the":[42,45,50,65,69,76,80,87,108,150,164],"surroundings":[43],"robot.":[46],"The":[47,126],"approach":[48],"extends":[49],"generic":[51,102],"chamfer":[52,152],"matching":[53,55,95,109,153],"template":[54],"technique":[56],"from":[57,105,121,146],"image":[58],"processing":[59],"by":[60],"including":[61],"visibility":[62],"analysis":[63],"cost":[66],"function.":[67],"Thus,":[68],"observed":[70],"planes":[72],"are":[73],"matched":[74],"expected":[77,113],"view":[78],"corresponding":[81],"section":[83],"instead":[84],"entire":[88],"map,":[89],"which":[90],"makes":[91],"more":[93],"accurate":[94],"possible.":[96],"Since":[97],"this":[98],"formulation":[99,110],"operates":[100],"edge":[103],"maps":[104],"visual":[106],"sensors,":[107],"can":[111],"be":[112],"generalize":[115],"other":[117],"data,":[119],"e.g.,":[120],"monocular":[122],"or":[123],"stereo":[124],"cameras.":[125],"evaluated":[129],"two":[131],"large":[132],"datasets":[133],"collected":[134],"different":[136],"real-world":[137],"urban":[138],"settings":[139],"compared":[141],"baseline":[144],"literature":[147],"standard":[151],"approach,":[154],"where":[155],"it":[156],"shows":[157],"considerable":[158],"performance":[159],"benefits,":[160],"as":[161,163],"well":[162],"feasibility":[165],"localization":[168],"outline":[173],"data.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
