{"id":"https://openalex.org/W4386970253","doi":"https://doi.org/10.1109/ccta54093.2023.10253172","title":"A comparative experimental study of LiDAR, camera, and LiDAR-camera localization algorithms for autonomous mobile robots on urban sidewalks","display_name":"A comparative experimental study of LiDAR, camera, and LiDAR-camera localization algorithms for autonomous mobile robots on urban sidewalks","publication_year":2023,"publication_date":"2023-08-16","ids":{"openalex":"https://openalex.org/W4386970253","doi":"https://doi.org/10.1109/ccta54093.2023.10253172"},"language":"en","primary_location":{"id":"doi:10.1109/ccta54093.2023.10253172","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ccta54093.2023.10253172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5011088021","display_name":"Luca Mozzarelli","orcid":"https://orcid.org/0000-0002-5602-0292"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Mozzarelli","raw_affiliation_strings":["Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milano,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milano,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066842848","display_name":"Matteo Corno","orcid":"https://orcid.org/0000-0003-2644-7487"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Corno","raw_affiliation_strings":["Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milano,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milano,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047303451","display_name":"Sergio M. Savaresi","orcid":"https://orcid.org/0000-0001-5829-2323"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sergio Matteo Savaresi","raw_affiliation_strings":["Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milano,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milano,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":1.9137,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86032393,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"53","last_page":"58"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.996999979019165,"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/benchmark","display_name":"Benchmark (surveying)","score":0.7928408980369568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7397267818450928},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7306420803070068},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.700299859046936},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6951256990432739},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.666259765625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6580429077148438},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5859461426734924},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5559614896774292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5275965332984924},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5193556547164917},{"id":"https://openalex.org/keywords/robot-vision","display_name":"Robot vision","score":0.4154529571533203},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4033862352371216},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2445490062236786},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.11921492218971252},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11804261803627014}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7928408980369568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7397267818450928},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7306420803070068},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.700299859046936},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6951256990432739},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.666259765625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6580429077148438},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5859461426734924},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5559614896774292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5275965332984924},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5193556547164917},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.4154529571533203},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4033862352371216},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2445490062236786},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.11921492218971252},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11804261803627014},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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:10.1109/ccta54093.2023.10253172","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ccta54093.2023.10253172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1256942","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1256942","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1551215724","https://openalex.org/W1612997784","https://openalex.org/W1656165940","https://openalex.org/W2005389775","https://openalex.org/W2021851106","https://openalex.org/W2049981393","https://openalex.org/W2095498779","https://openalex.org/W2115579991","https://openalex.org/W2140030375","https://openalex.org/W2144824356","https://openalex.org/W2152671441","https://openalex.org/W2396274919","https://openalex.org/W2411093439","https://openalex.org/W2535547924","https://openalex.org/W2758210595","https://openalex.org/W2889321156","https://openalex.org/W2898231767","https://openalex.org/W2944296259","https://openalex.org/W3102327032","https://openalex.org/W3132707050"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W2047155493","https://openalex.org/W2006288243"],"abstract_inverted_index":{"To":[0],"navigate":[1],"autonomously,":[2],"mobile":[3],"robots":[4],"require":[5],"an":[6,48,70],"accurate":[7],"and":[8,26],"drift-free":[9],"source":[10],"of":[11,33,66],"localization.":[12],"Many":[13],"algorithmic":[14],"solutions":[15],"have":[16],"been":[17],"proposed":[18],"in":[19],"the":[20,63,94],"literature,":[21],"exploiting":[22,69],"sensors":[23],"like":[24],"LiDARs":[25],"cameras.":[27],"This":[28],"paper":[29],"proposes":[30],"a":[31,39,85],"benchmark":[32],"some":[34],"open-source":[35],"localization":[36,68,73],"algorithms":[37],"on":[38,57],"self-acquired,":[40],"sidewalk-focused":[41],"dataset.":[42],"The":[43,60],"dataset":[44],"was":[45],"collected":[46],"by":[47,93],"instrumented":[49],"robotic":[50],"platform":[51],"traveling":[52],"more":[53],"than":[54],"5":[55],"kilometers":[56],"public":[58],"sidewalks.":[59],"analysis":[61],"targets":[62],"use":[64],"case":[65],"map-based":[67],"a-priori":[71],"known":[72],"map.":[74],"Results":[75],"are":[76],"reported":[77],"as":[78,91],"mean":[79],"position":[80],"errors":[81],"with":[82],"respect":[83],"to":[84],"high":[86],"quality":[87],"ground":[88],"truth":[89],"trajectory,":[90],"computed":[92],"Absolute":[95],"Trajectory":[96],"Error":[97],"(ATE)":[98],"method.":[99]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
