{"id":"https://openalex.org/W2966985372","doi":"https://doi.org/10.1109/icra.2019.8793497","title":"Accurate and Efficient Self-Localization on Roads using Basic Geometric Primitives","display_name":"Accurate and Efficient Self-Localization on Roads using Basic Geometric Primitives","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2966985372","doi":"https://doi.org/10.1109/icra.2019.8793497","mag":"2966985372"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5002543843","display_name":"Julius K\u00fcmmerle","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Julius Kummerle","raw_affiliation_strings":["Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057045342","display_name":"M. Witmark Sons","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Sons","raw_affiliation_strings":["Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035629040","display_name":"Fabian Poggenhans","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Fabian Poggenhans","raw_affiliation_strings":["Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001180910","display_name":"Tilman K\u00fchner","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tilman Kuhner","raw_affiliation_strings":["Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008189468","display_name":"Martin Lauer","orcid":"https://orcid.org/0000-0003-4414-5722"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Lauer","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5002543843"],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":84.5428,"has_fulltext":false,"cited_by_count":72,"citation_normalized_percentile":{"value":0.99861171,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5965","last_page":"5971"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7656770348548889},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.7597044706344604},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6913968324661255},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5409702658653259},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5314751267433167},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5281650424003601},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49993419647216797},{"id":"https://openalex.org/keywords/data-association","display_name":"Data association","score":0.47193238139152527},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4665133059024811},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4631345570087433},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4554980397224426},{"id":"https://openalex.org/keywords/association","display_name":"Association (psychology)","score":0.4223552644252777},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.28303417563438416},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25304555892944336},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21297121047973633},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.17677178978919983}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7656770348548889},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.7597044706344604},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6913968324661255},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5409702658653259},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5314751267433167},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5281650424003601},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49993419647216797},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.47193238139152527},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4665133059024811},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4631345570087433},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4554980397224426},{"id":"https://openalex.org/C142853389","wikidata":"https://www.wikidata.org/wiki/Q744778","display_name":"Association (psychology)","level":2,"score":0.4223552644252777},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.28303417563438416},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25304555892944336},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21297121047973633},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.17677178978919983},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8399999737739563,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W76980395","https://openalex.org/W179122090","https://openalex.org/W1484371059","https://openalex.org/W1960560098","https://openalex.org/W1974258316","https://openalex.org/W1996520948","https://openalex.org/W2021063678","https://openalex.org/W2029841124","https://openalex.org/W2042154170","https://openalex.org/W2060061906","https://openalex.org/W2117013956","https://openalex.org/W2486452906","https://openalex.org/W2508311245","https://openalex.org/W2563294506","https://openalex.org/W2566881119","https://openalex.org/W2567328166","https://openalex.org/W2740156952","https://openalex.org/W2741562645","https://openalex.org/W2763476526","https://openalex.org/W2905511230","https://openalex.org/W2909376995","https://openalex.org/W2909449108","https://openalex.org/W6607182985","https://openalex.org/W6730807450"],"related_works":["https://openalex.org/W2161240633","https://openalex.org/W4386821976","https://openalex.org/W2970345194","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2152464524","https://openalex.org/W2149015029","https://openalex.org/W48401697","https://openalex.org/W2963091090","https://openalex.org/W2564786226"],"abstract_inverted_index":{"Highly":[0],"accurate":[1],"localization":[2,25,101,127,152],"with":[3,118,129],"very":[4],"limited":[5],"amount":[6],"of":[7,14,107,134,145,155],"memory":[8,116],"and":[9,35,43,56,90,123,139],"computational":[10],"power":[11],"is":[12,76,115],"one":[13],"the":[15,66],"big":[16],"challenges":[17],"for":[18,38],"next":[19],"generation":[20],"series":[21],"cars.":[22],"We":[23,61],"propose":[24],"based":[26,93],"on":[27,94,103],"geometric":[28],"primitives":[29,47],"which":[30,51,75],"are":[31],"compact":[32],"in":[33,65,110],"representation":[34],"further":[36],"valuable":[37],"other":[39],"tasks":[40],"like":[41],"planning":[42],"behavior":[44],"generation.":[45],"The":[46],"lack":[48],"distinctive":[49],"signature":[50],"makes":[52],"association":[53,89],"between":[54],"detections":[55],"map":[57,74,114],"elements":[58],"highly":[59],"ambiguous.":[60],"resolve":[62],"ambiguities":[63],"early":[64],"pipeline":[67],"by":[68],"online":[69],"building":[70],"up":[71],"a":[72,84,130,140,151],"local":[73],"key":[77],"to":[78,87],"runtime":[79],"efficiency.":[80],"Further,":[81],"we":[82,124],"introduce":[83],"new":[85],"framework":[86,102],"fuse":[88],"odometry":[91],"measurements":[92],"robust":[95],"pose":[96],"graph":[97],"optimization.We":[98],"evaluate":[99],"our":[100],"over":[104],"30":[105],"min":[106],"data":[108],"recorded":[109],"urban":[111],"scenarios.":[112],"Our":[113],"efficient":[117],"less":[119,135,146],"than":[120,136,147],"8":[121],"kB/km":[122],"achieve":[125],"high":[126],"accuracy":[128],"mean":[131,141],"position":[132],"error":[133,144],"10":[137],"cm":[138],"yaw":[142],"angle":[143],"0.":[148],"25\u00b0":[149],"at":[150],"update":[153],"rate":[154],"50Hz.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":6}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}