{"id":"https://openalex.org/W3176828988","doi":"https://doi.org/10.1109/ecmr50962.2021.9568822","title":"Be your own Benchmark: No-Reference Trajectory Metric on Registered Point Clouds","display_name":"Be your own Benchmark: No-Reference Trajectory Metric on Registered Point Clouds","publication_year":2021,"publication_date":"2021-08-01","ids":{"openalex":"https://openalex.org/W3176828988","doi":"https://doi.org/10.1109/ecmr50962.2021.9568822","mag":"3176828988"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr50962.2021.9568822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568822","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://export.arxiv.org/pdf/2106.11351","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101950884","display_name":"Anastasiia Kornilova","orcid":"https://orcid.org/0009-0000-0987-1409"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Anastasiia Kornilova","raw_affiliation_strings":["Skolkovo Institute of Science and Technology","Skoltech#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech#TAB#","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030445216","display_name":"Gonzalo Ferrer","orcid":"https://orcid.org/0000-0003-2704-7186"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Gonzalo Ferrer","raw_affiliation_strings":["Skolkovo Institute of Science and Technology","Skoltech#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech#TAB#","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":0.8322,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.7382199,"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":"1","last_page":"8"},"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":0.9991000294685364,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.8214635848999023},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7739768028259277},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7668278217315674},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.7377460598945618},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6357598900794983},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5993781685829163},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5388100147247314},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.471219927072525},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4514431655406952},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43319499492645264},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4289016127586365},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38727453351020813},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28966987133026123},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10985225439071655},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09419041872024536},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08231425285339355}],"concepts":[{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.8214635848999023},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7739768028259277},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7668278217315674},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7377460598945618},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6357598900794983},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5993781685829163},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5388100147247314},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.471219927072525},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4514431655406952},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43319499492645264},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4289016127586365},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38727453351020813},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28966987133026123},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10985225439071655},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09419041872024536},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08231425285339355},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ecmr50962.2021.9568822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568822","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"mag:3176828988","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2106.11351","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2106.11351","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2106.11351","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"mag:3176828988","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2106.11351","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1656165940","https://openalex.org/W1985514943","https://openalex.org/W1995443731","https://openalex.org/W2021851106","https://openalex.org/W2036895101","https://openalex.org/W2049479307","https://openalex.org/W2104497032","https://openalex.org/W2150066425","https://openalex.org/W2151967815","https://openalex.org/W2238582461","https://openalex.org/W2396274919","https://openalex.org/W2738551266","https://openalex.org/W2793293836","https://openalex.org/W2797395780","https://openalex.org/W2799541997","https://openalex.org/W2807186084","https://openalex.org/W2883357174","https://openalex.org/W2890979795","https://openalex.org/W2893723229","https://openalex.org/W2954893658","https://openalex.org/W2962867954","https://openalex.org/W2970452316","https://openalex.org/W2981556384","https://openalex.org/W2991216808","https://openalex.org/W3003875941","https://openalex.org/W3035130434","https://openalex.org/W3121514110","https://openalex.org/W3133767727","https://openalex.org/W3195209712","https://openalex.org/W4239181501","https://openalex.org/W4299959846","https://openalex.org/W6745935785","https://openalex.org/W6750768824"],"related_works":["https://openalex.org/W3209842724","https://openalex.org/W1526497588","https://openalex.org/W2876324142","https://openalex.org/W2992707672","https://openalex.org/W2899807236","https://openalex.org/W3200318260","https://openalex.org/W3120428838","https://openalex.org/W2995336864","https://openalex.org/W2909314588","https://openalex.org/W2278591674","https://openalex.org/W2950924123","https://openalex.org/W196115574","https://openalex.org/W3185625437","https://openalex.org/W3035237020","https://openalex.org/W2979798503","https://openalex.org/W3196889539","https://openalex.org/W2997921482","https://openalex.org/W2607268573","https://openalex.org/W2166008966","https://openalex.org/W3201169136"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,26,51,54,61,121,141],"problem":[4],"of":[5,53,110,123,140],"assessing":[6],"trajectory":[7,62,69,77],"quality":[8,52],"in":[9,34,100,130],"conditions":[10],"when":[11,19],"no":[12],"ground":[13],"truth":[14],"poses":[15],"are":[16,86],"available":[17,146],"or":[18],"their":[20],"accuracy":[21],"is":[22,144],"not":[23],"enough":[24],"for":[25,30,93,120],"specific":[27],"task":[28],"\u2014":[29],"example,":[31],"small-scale":[32],"mapping":[33],"outdoor":[35],"scenes.":[36],"In":[37],"our":[38,105],"work,":[39],"we":[40,116],"propose":[41],"a":[42,76,90,108],"no-reference":[43],"metric,":[44],"Mutually":[45],"Orthogonal":[46],"Metric":[47],"(MOM),":[48],"that":[49],"estimates":[50],"map":[55],"from":[56,112],"registered":[57],"point":[58],"clouds":[59],"via":[60],"poses.":[63],"MOM":[64],"strongly":[65],"correlates":[66],"with":[67],"full-reference":[68],"metric":[70,106,143],"Relative":[71],"Pose":[72],"Error,":[73],"making":[74],"it":[75,98],"benchmarking":[78],"tool":[79],"on":[80,135],"setups":[81],"where":[82],"3D":[83],"sensing":[84],"technologies":[85],"employed.":[87],"We":[88],"provide":[89,117],"mathematical":[91],"foundation":[92],"such":[94,124],"correlation":[95],"and":[96,126,134],"confirm":[97],"statistically":[99],"synthetic":[101,131],"environments.":[102],"Furthermore,":[103],"since":[104],"uses":[107],"subset":[109,125],"points":[111],"mutually":[113],"orthogonal":[114],"surfaces,":[115],"an":[118],"algorithm":[119],"extraction":[122],"evaluate":[127],"its":[128],"performance":[129],"CARLA":[132],"environment":[133],"KITTI":[136],"dataset.":[137],"The":[138],"code":[139],"proposed":[142],"publicly":[145],"as":[147],"pip-package.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
