{"id":"https://openalex.org/W3089501578","doi":"https://doi.org/10.1109/icra40945.2020.9197059","title":"ROI-cloud: A Key Region Extraction Method for LiDAR Odometry and Localization","display_name":"ROI-cloud: A Key Region Extraction Method for LiDAR Odometry and Localization","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089501578","doi":"https://doi.org/10.1109/icra40945.2020.9197059","mag":"3089501578"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 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/A5114763071","display_name":"Zhibo Zhou","orcid":"https://orcid.org/0009-0002-8828-4804"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhibo Zhou","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009256880","display_name":"Ming Yang","orcid":"https://orcid.org/0000-0002-8679-9137"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Yang","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048517656","display_name":"Chunxiang Wang","orcid":"https://orcid.org/0000-0002-6885-6740"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunxiang Wang","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100683529","display_name":"Bing Wang","orcid":"https://orcid.org/0000-0001-5554-9496"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Wang","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5114763071"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":17.2796,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.98494068,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3312","last_page":"3318"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9995999932289124,"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":0.9993000030517578,"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/point-cloud","display_name":"Point cloud","score":0.8461545705795288},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8015864491462708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7788487672805786},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.676510751247406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6516454219818115},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6121385097503662},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5700969099998474},{"id":"https://openalex.org/keywords/region-of-interest","display_name":"Region of interest","score":0.4365784227848053},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.43621179461479187},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4284244179725647},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3327183127403259},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2628154158592224},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24958905577659607},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13803696632385254},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11950170993804932}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8461545705795288},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8015864491462708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7788487672805786},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.676510751247406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6516454219818115},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6121385097503662},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5700969099998474},{"id":"https://openalex.org/C19609008","wikidata":"https://www.wikidata.org/wiki/Q2138203","display_name":"Region of interest","level":2,"score":0.4365784227848053},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.43621179461479187},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4284244179725647},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3327183127403259},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2628154158592224},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24958905577659607},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13803696632385254},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11950170993804932},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1693345094","https://openalex.org/W1964502729","https://openalex.org/W2033574012","https://openalex.org/W2049981393","https://openalex.org/W2052121894","https://openalex.org/W2089112725","https://openalex.org/W2114467878","https://openalex.org/W2119851068","https://openalex.org/W2134236847","https://openalex.org/W2136760085","https://openalex.org/W2137596640","https://openalex.org/W2150190641","https://openalex.org/W2152864241","https://openalex.org/W2171592532","https://openalex.org/W2296228853","https://openalex.org/W2336416123","https://openalex.org/W2519823314","https://openalex.org/W2527172881","https://openalex.org/W2566043628","https://openalex.org/W2740156952","https://openalex.org/W2781624507","https://openalex.org/W2909908358","https://openalex.org/W2940198322","https://openalex.org/W2964977510","https://openalex.org/W3099455272","https://openalex.org/W4249866455","https://openalex.org/W6637369054","https://openalex.org/W6731276583","https://openalex.org/W6747456110","https://openalex.org/W6762218678"],"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/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,61,118,129],"novel":[3],"key":[4,96,111],"region":[5,29],"extraction":[6],"method":[7,174,189],"of":[8,33,45,55,77,117,123,135,146,169],"point":[9,24,46,81,158],"cloud,":[10],"ROI-cloud,":[11,65],"for":[12,79],"LiDAR":[13,119],"odometry":[14],"and":[15,42,50,84,104,156,180,193],"localization":[16],"with":[17,107,162],"autonomous":[18],"robots.":[19],"Traditional":[20],"methods":[21],"process":[22],"massive":[23],"cloud":[25,47,159],"data":[26,138],"in":[27,190],"every":[28],"within":[30],"the":[31,53,75,121,133,144,184,187],"field":[32],"view.":[34],"In":[35,58],"dense":[36],"urban":[37],"environments,":[38],"however,":[39],"processing":[40],"redundant":[41,157],"dynamic":[43,155],"regions":[44,76],"is":[48,66,89,98,126,175],"time-consuming":[49],"harmful":[51],"to":[52,68,99],"results":[54,181],"matching":[56],"algorithms.":[57],"this":[59,70],"paper,":[60],"voxelized":[62,91],"cube":[63,125],"set,":[64],"proposed":[67],"solve":[69],"problem":[71],"by":[72,167],"exclusively":[73],"reserving":[74],"interest":[78],"better":[80],"set":[82],"registration":[83],"pose":[85],"estimation.":[86],"3D":[87],"space":[88],"firstly":[90],"into":[92],"weighted":[93],"cubes.":[94],"The":[95],"idea":[97],"update":[100],"their":[101],"weights":[102,145],"continually":[103],"extract":[105],"cubes":[106,147,161],"high":[108],"importance":[109,122,164],"as":[110,128,139,141],"regions.":[112],"By":[113],"extracting":[114],"geometrical":[115],"features":[116],"scan,":[120],"each":[124],"evaluated":[127],"new":[130,142],"measurement.":[131],"With":[132],"help":[134],"on-board":[136],"IMU/odometry":[137],"well":[140],"measurements,":[143],"are":[148,165],"updated":[149],"recursively":[150],"through":[151],"Bayes":[152],"filtering.":[153],"Thus,":[154],"inside":[160],"low":[163],"discarded":[166],"means":[168],"Monte":[170],"Carlo":[171],"sampling.":[172],"Our":[173],"validated":[176],"on":[177],"various":[178],"datasets,":[179],"indicate":[182],"that":[183],"ROI-cloud":[185],"improves":[186],"existing":[188],"both":[191],"accuracy":[192],"speed.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}