{"id":"https://openalex.org/W3113666485","doi":"https://doi.org/10.1080/17538947.2020.1862318","title":"Dense 3D surface reconstruction of large-scale streetscape from vehicle-borne imagery and LiDAR","display_name":"Dense 3D surface reconstruction of large-scale streetscape from vehicle-borne imagery and LiDAR","publication_year":2020,"publication_date":"2020-12-17","ids":{"openalex":"https://openalex.org/W3113666485","doi":"https://doi.org/10.1080/17538947.2020.1862318","mag":"3113666485"},"language":"en","primary_location":{"id":"doi:10.1080/17538947.2020.1862318","is_oa":false,"landing_page_url":"https://doi.org/10.1080/17538947.2020.1862318","pdf_url":null,"source":{"id":"https://openalex.org/S199162493","display_name":"International Journal of Digital Earth","issn_l":"1753-8947","issn":["1753-8947","1753-8955"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Digital Earth","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"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/A5101968253","display_name":"Xiaohu Lin","orcid":"https://orcid.org/0000-0001-5136-0397"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohu Lin","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, People\u2019s Republic of China","School of Geodesy and Geomatics, Wuhan University, Wuhan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100772177","display_name":"Bisheng Yang","orcid":"https://orcid.org/0000-0001-7736-0803"},"institutions":[{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]},{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bisheng Yang","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, People\u2019s Republic of China","State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]},{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027558945","display_name":"Fuhong Wang","orcid":"https://orcid.org/0000-0003-0264-3643"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuhong Wang","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, People\u2019s Republic of China","School of Geodesy and Geomatics, Wuhan University, Wuhan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075507724","display_name":"Jianping Li","orcid":"https://orcid.org/0000-0003-0625-1575"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianping Li","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, People\u2019s Republic of China","State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]},{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056187513","display_name":"Xiqi Wang","orcid":"https://orcid.org/0000-0003-3442-2474"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiqi Wang","raw_affiliation_strings":["School of Remote Sensing Information Engineering, Wuhan University, Wuhan, People\u2019s Republic of China","School of Remote Sensing Information Engineering, Wuhan University, Wuhan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Remote Sensing Information Engineering, Wuhan University, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Remote Sensing Information Engineering, Wuhan University, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100772177"],"corresponding_institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210118728"],"apc_list":{"value":2390,"currency":"USD","value_usd":2390},"apc_paid":null,"fwci":6.5269,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.96868481,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"14","issue":"5","first_page":"619","last_page":"639"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.703002393245697},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6918194890022278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6752712726593018},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6006224155426025},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5985528230667114},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.5962205529212952},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5162475109100342},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42118072509765625},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4153198003768921},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.24070468544960022},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2347354292869568},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11124354600906372}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.703002393245697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6918194890022278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6752712726593018},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6006224155426025},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5985528230667114},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.5962205529212952},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5162475109100342},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42118072509765625},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4153198003768921},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.24070468544960022},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2347354292869568},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11124354600906372},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/17538947.2020.1862318","is_oa":false,"landing_page_url":"https://doi.org/10.1080/17538947.2020.1862318","pdf_url":null,"source":{"id":"https://openalex.org/S199162493","display_name":"International Journal of Digital Earth","issn_l":"1753-8947","issn":["1753-8947","1753-8955"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Digital Earth","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:c100bb60fdf7405e8546a1c02b44e98e","is_oa":false,"landing_page_url":"https://doaj.org/article/c100bb60fdf7405e8546a1c02b44e98e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Digital Earth, Vol 14, Iss 5, Pp 619-639 (2021)","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G4070586813","display_name":null,"funder_award_id":"2016YFB0501803","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5375958726","display_name":null,"funder_award_id":"41725005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6555630258","display_name":null,"funder_award_id":"41531177","funder_id":"https://openalex.org/F4320335595","funder_display_name":"National Natural Science Foundation of China-Yunnan Joint Fund"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335595","display_name":"National Natural Science Foundation of China-Yunnan Joint Fund","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W1512698229","https://openalex.org/W1872406745","https://openalex.org/W1967740178","https://openalex.org/W1975809100","https://openalex.org/W2021851106","https://openalex.org/W2026726159","https://openalex.org/W2047692640","https://openalex.org/W2069695851","https://openalex.org/W2074378519","https://openalex.org/W2082253268","https://openalex.org/W2093500899","https://openalex.org/W2093659073","https://openalex.org/W2107181183","https://openalex.org/W2128357735","https://openalex.org/W2129201358","https://openalex.org/W2130422193","https://openalex.org/W2132574849","https://openalex.org/W2150066425","https://openalex.org/W2152671441","https://openalex.org/W2153054365","https://openalex.org/W2174668712","https://openalex.org/W2216125271","https://openalex.org/W2277848489","https://openalex.org/W2287520832","https://openalex.org/W2471962767","https://openalex.org/W2474281075","https://openalex.org/W2494890720","https://openalex.org/W2495616481","https://openalex.org/W2535547924","https://openalex.org/W2559655401","https://openalex.org/W2563804180","https://openalex.org/W2567028727","https://openalex.org/W2604231069","https://openalex.org/W2611467245","https://openalex.org/W2738551266","https://openalex.org/W2795447360","https://openalex.org/W2802591237","https://openalex.org/W2888422218","https://openalex.org/W2890090517","https://openalex.org/W2891031479","https://openalex.org/W2892161145","https://openalex.org/W2909157769","https://openalex.org/W2909908358","https://openalex.org/W2910558080","https://openalex.org/W2914232966","https://openalex.org/W2915578728","https://openalex.org/W2945529733","https://openalex.org/W2953760375","https://openalex.org/W2963496125","https://openalex.org/W2963706662","https://openalex.org/W2968110863","https://openalex.org/W2981826460","https://openalex.org/W2990026901","https://openalex.org/W3003659795","https://openalex.org/W3004334518","https://openalex.org/W3007428117","https://openalex.org/W3100388886","https://openalex.org/W3102327032","https://openalex.org/W4212991200","https://openalex.org/W4241716071","https://openalex.org/W4242073862","https://openalex.org/W6629222711","https://openalex.org/W6636210656","https://openalex.org/W6656965073","https://openalex.org/W6662427669","https://openalex.org/W6676402299","https://openalex.org/W6688809243","https://openalex.org/W6714262829","https://openalex.org/W6749819919","https://openalex.org/W6754215204","https://openalex.org/W6760351814"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W2594043982","https://openalex.org/W3036493597","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2368534456","https://openalex.org/W2980582925","https://openalex.org/W2922069956","https://openalex.org/W4391047701","https://openalex.org/W3092618660"],"abstract_inverted_index":{"Accurate":[0],"and":[1,18,34,37,47,90,94,119,127,153,165,176,187],"efficient":[2,53],"three-dimensional":[3],"(3D)":[4],"streetscape":[5,29,112],"reconstruction":[6,30,68,113],"is":[7,86,102,114],"the":[8,82,95,147,169,173,192],"fundamental":[9],"ability":[10],"for":[11,65],"an":[12,62],"exploration":[13],"vehicle":[14,85],"to":[15,75,104,145,156],"navigate":[16],"safely":[17],"perform":[19],"high-level":[20],"tasks.":[21],"Recently,":[22],"remarkable":[23],"progress":[24],"has":[25],"been":[26],"made":[27],"in":[28,45,52],"with":[31,122],"visual":[32,89,148],"images":[33],"light":[35],"detection":[36],"ranging":[38],"(LiDAR),":[39],"but":[40],"they":[41],"have":[42],"difficulties":[43],"either":[44],"scaling":[46],"reconstructing":[48],"large-scale":[49,70],"outdoors":[50],"or":[51],"processing.":[54],"To":[55],"address":[56],"these":[57],"issues,":[58],"this":[59],"paper":[60],"proposed":[61,193],"automatic":[63],"method":[64],"incremental":[66,109],"dense":[67,110,139],"of":[69,84,138,178],"3D":[71,111],"streetscapes":[72],"from":[73],"coarse":[74,120],"fine":[76],"at":[77],"near":[78],"real":[79],"time.":[80],"Firstly,":[81],"pose":[83,151],"estimated":[87],"by":[88,116,168],"laser":[91],"odometry":[92],"(VLO)":[93],"state-of-the-art":[96,170],"pyramid":[97],"stereo":[98],"matching":[99],"network":[100],"(PSMNet)":[101],"introduced":[103],"estimate":[105],"depth":[106],"information.":[107],"Then,":[108],"conducted":[115],"key-frame":[117],"selection":[118],"registration":[121],"local":[123],"optimization.":[124],"Finally,":[125],"redundant":[126],"noise":[128],"points":[129,181],"are":[130,183],"removed":[131],"through":[132],"multiple":[133],"filtering,":[134],"resulting":[135],"good":[136],"quality":[137],"reconstruction.":[140],"Comprehensive":[141],"experiments":[142],"were":[143],"undertaken":[144],"check":[146],"effect,":[149],"trajectory":[150],"error":[152],"multi-scale":[154],"model":[155,157],"cloud":[158],"comparison":[159],"(M3C2)":[160],"based":[161],"on":[162],"reference":[163],"trajectories":[164],"reconstructions":[166],"provided":[167],"method,":[171],"showing":[172],"precision,":[174],"recall":[175],"F-score":[177],"sampling":[179],"core":[180],"(SCPs)":[182],"over":[184],"80.42%,":[185],"71.68%":[186],"77.19%,":[188],"respectively,":[189],"which":[190],"verified":[191],"method.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}