{"id":"https://openalex.org/W3016602338","doi":"https://doi.org/10.1109/access.2020.2988464","title":"New Monte Carlo Localization Using Deep Initialization: A Three-Dimensional LiDAR and a Camera Fusion Approach","display_name":"New Monte Carlo Localization Using Deep Initialization: A Three-Dimensional LiDAR and a Camera Fusion Approach","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3016602338","doi":"https://doi.org/10.1109/access.2020.2988464","mag":"3016602338"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2988464","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2988464","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09069965.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09069965.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019991842","display_name":"HyungGi Jo","orcid":"https://orcid.org/0000-0003-2689-1940"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyunggi Jo","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Yonsei University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Yonsei University, Seoul, South Korea","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065415014","display_name":"Euntai Kim","orcid":"https://orcid.org/0000-0002-0975-8390"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Euntai Kim","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Yonsei University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0975-8390","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Yonsei University, Seoul, South Korea","institution_ids":["https://openalex.org/I193775966"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193775966"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":20.7176,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.98715102,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"74485","last_page":"74496"},"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/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":1.0,"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":0.9983999729156494,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9976000189781189,"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/initialization","display_name":"Initialization","score":0.8626604080200195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7559428811073303},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7478111386299133},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7195837497711182},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7105847597122192},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.7096623182296753},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6459395289421082},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5995453596115112},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.5397887825965881},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5118493437767029},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.44857466220855713},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42843401432037354},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4192197322845459},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4026795029640198},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.3246789872646332},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.17939841747283936},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15182051062583923},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08331599831581116}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8626604080200195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7559428811073303},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7478111386299133},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7195837497711182},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7105847597122192},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.7096623182296753},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6459395289421082},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5995453596115112},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.5397887825965881},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5118493437767029},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.44857466220855713},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42843401432037354},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4192197322845459},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4026795029640198},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.3246789872646332},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.17939841747283936},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15182051062583923},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08331599831581116},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2988464","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2988464","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09069965.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:04279d86734148db857ab92133fa2375","is_oa":true,"landing_page_url":"https://doaj.org/article/04279d86734148db857ab92133fa2375","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 74485-74496 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2988464","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2988464","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09069965.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G2752416629","display_name":null,"funder_award_id":"10063172","funder_id":"https://openalex.org/F4320334879","funder_display_name":"Korea Evaluation Institute of Industrial Technology"},{"id":"https://openalex.org/G4264328983","display_name":null,"funder_award_id":"10063172","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320334879","display_name":"Korea Evaluation Institute of Industrial Technology","ror":"https://ror.org/03z9cwa38"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3016602338.pdf","grobid_xml":"https://content.openalex.org/works/W3016602338.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W88434223","https://openalex.org/W1512698229","https://openalex.org/W1547236731","https://openalex.org/W1567242735","https://openalex.org/W1606157100","https://openalex.org/W1680252513","https://openalex.org/W1915368719","https://openalex.org/W1983043788","https://openalex.org/W2017587562","https://openalex.org/W2021063678","https://openalex.org/W2050704117","https://openalex.org/W2097117768","https://openalex.org/W2123629502","https://openalex.org/W2130422193","https://openalex.org/W2144824356","https://openalex.org/W2153054365","https://openalex.org/W2200124539","https://openalex.org/W2284520540","https://openalex.org/W2296228853","https://openalex.org/W2336416123","https://openalex.org/W2482726005","https://openalex.org/W2515303922","https://openalex.org/W2535547924","https://openalex.org/W2567328166","https://openalex.org/W2592770378","https://openalex.org/W2605111497","https://openalex.org/W2737704667","https://openalex.org/W2741046124","https://openalex.org/W2751232655","https://openalex.org/W2771385090","https://openalex.org/W2791994378","https://openalex.org/W2808367323","https://openalex.org/W2810111536","https://openalex.org/W2891315244","https://openalex.org/W2906667343","https://openalex.org/W2910558080","https://openalex.org/W2954791479","https://openalex.org/W2955418607","https://openalex.org/W2960266456","https://openalex.org/W2963024893","https://openalex.org/W2983230029","https://openalex.org/W3083287416","https://openalex.org/W3102327032","https://openalex.org/W4249866455","https://openalex.org/W6603604263","https://openalex.org/W6740978277","https://openalex.org/W6752151526"],"related_works":["https://openalex.org/W2128655648","https://openalex.org/W1518703880","https://openalex.org/W1837108749","https://openalex.org/W2165929034","https://openalex.org/W2134351344","https://openalex.org/W3147794891","https://openalex.org/W1968683859","https://openalex.org/W2138031790","https://openalex.org/W146141637","https://openalex.org/W2133062384"],"abstract_inverted_index":{"Fast":[0],"and":[1,15,50,73,76,170,196],"accurate":[2],"global":[3,22],"localization":[4,23,57,144,156,194],"of":[5,67,97,110,113,149,191],"autonomous":[6],"ground":[7],"vehicles":[8],"is":[9,48,52,62,92,126,152,161,177],"often":[10],"required":[11],"in":[12,189],"indoor":[13],"environments":[14],"GPS-shaded":[16],"areas.":[17],"Typically,":[18],"with":[19],"regard":[20],"to":[21,35,54,94,106,128,179,184],"problem,":[24],"the":[25,65,103,111,130,147,155,159,165,174,186,193,201],"entire":[26],"environment":[27],"should":[28],"be":[29],"observed":[30],"for":[31,139,199],"a":[32,41,68,77,80,86,107,117,121,123,136,143,168,180],"long":[33],"time":[34,197],"converge.":[36],"To":[37],"overcome":[38],"this":[39],"limitation,":[40],"new":[42],"initialization":[43,47,141],"method":[44,61,138,176],"called":[45],"deep":[46,87],"proposed":[49,60,175],"it":[51],"applied":[53,127,178],"Monte":[55],"Carlo":[56],"(MCL).":[58],"The":[59],"based":[63,84],"on":[64,85],"combination":[66],"three-dimensional":[69],"(3D)":[70],"light":[71],"detection":[72],"ranging":[74],"(LiDAR)":[75],"camera.":[78],"Using":[79,116],"camera,":[81],"pose":[82,202],"regression":[83],"convolutional":[88],"neural":[89],"network":[90],"(CNN)":[91],"conducted":[93],"initialize":[95],"particles":[96],"MCL.":[98],"Particles":[99],"are":[100],"sampled":[101],"from":[102,167],"tangent":[104],"space":[105],"manifold":[108],"structure":[109],"group":[112],"rigid":[114],"motion.":[115],"3D":[118,171],"LiDAR":[119],"as":[120],"sensor,":[122],"particle":[124],"filter":[125],"estimate":[129],"sensor":[131],"pose.":[132],"Furthermore,":[133],"we":[134],"propose":[135],"re-localization":[137],"performing":[140],"whenever":[142],"failure":[145,157],"or":[146,158],"situation":[148],"robot":[150,182],"kidnapping":[151,160],"detected.":[153],"Either":[154],"detected":[162],"by":[163],"combining":[164],"outputs":[166],"camera":[169],"LiDAR.":[172],"Finally,":[173],"mobile":[181],"platform":[183],"prove":[185],"method's":[187],"effectiveness":[188],"terms":[190],"both":[192],"accuracy":[195],"consumed":[198],"estimating":[200],"correctly.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-08T08:33:18.762332","created_date":"2025-10-10T00:00:00"}