{"id":"https://openalex.org/W4285102155","doi":"https://doi.org/10.1109/icra46639.2022.9811855","title":"LTSR: Long-term Semantic Relocalization based on HD Map for Autonomous Vehicles","display_name":"LTSR: Long-term Semantic Relocalization based on HD Map for Autonomous Vehicles","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102155","doi":"https://doi.org/10.1109/icra46639.2022.9811855"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811855","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5044297132","display_name":"Huayou Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Huayou Wang","raw_affiliation_strings":["Huawei Technologies,Noah's Ark Lab,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Huawei Technologies,Noah's Ark Lab,Beijing,China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065456985","display_name":"Changliang Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changliang Xue","raw_affiliation_strings":["Huawei Technologies,Noah's Ark Lab,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Huawei Technologies,Noah's Ark Lab,Beijing,China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114803829","display_name":"Yu Tang","orcid":"https://orcid.org/0000-0002-2359-0109"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Tang","raw_affiliation_strings":["Huawei Technologies,Noah's Ark Lab,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Huawei Technologies,Noah's Ark Lab,Beijing,China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005172019","display_name":"Wanlong Li","orcid":"https://orcid.org/0000-0001-5886-1426"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanlong Li","raw_affiliation_strings":["Huawei Technologies,Noah's Ark Lab,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Huawei Technologies,Noah's Ark Lab,Beijing,China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034468581","display_name":"Feng Wen","orcid":"https://orcid.org/0000-0001-7536-638X"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Wen","raw_affiliation_strings":["Huawei Technologies,Noah's Ark Lab,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Huawei Technologies,Noah's Ark Lab,Beijing,China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100461083","display_name":"Hongbo Zhang","orcid":"https://orcid.org/0000-0001-5536-5224"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Zhang","raw_affiliation_strings":["Huawei Technologies,Noah's Ark Lab,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Huawei Technologies,Noah's Ark Lab,Beijing,China","institution_ids":["https://openalex.org/I2250955327"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5044297132"],"corresponding_institution_ids":["https://openalex.org/I2250955327"],"apc_list":null,"apc_paid":null,"fwci":2.222,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.90433361,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2171","last_page":"2178"},"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/T10627","display_name":"Advanced Image and Video Retrieval 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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.76151442527771},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7519122362136841},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6375201940536499},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6101207137107849},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5556970834732056},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4641154408454895},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.44849514961242676},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4236398935317993},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4177425503730774},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.4145129919052124},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3642403185367584},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.24898526072502136},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10590699315071106}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.76151442527771},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7519122362136841},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6375201940536499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6101207137107849},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5556970834732056},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4641154408454895},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.44849514961242676},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4236398935317993},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4177425503730774},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.4145129919052124},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3642403185367584},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.24898526072502136},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10590699315071106},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811855","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1532257412","https://openalex.org/W1532362218","https://openalex.org/W1566135517","https://openalex.org/W1677409904","https://openalex.org/W1988322066","https://openalex.org/W1989484209","https://openalex.org/W2012592962","https://openalex.org/W2029449100","https://openalex.org/W2041469568","https://openalex.org/W2045162826","https://openalex.org/W2060061906","https://openalex.org/W2099606917","https://openalex.org/W2105977269","https://openalex.org/W2117228865","https://openalex.org/W2131821152","https://openalex.org/W2141584146","https://openalex.org/W2144824356","https://openalex.org/W2151103935","https://openalex.org/W2160821342","https://openalex.org/W2161969291","https://openalex.org/W2162915993","https://openalex.org/W2284029970","https://openalex.org/W2563294506","https://openalex.org/W2565998037","https://openalex.org/W2740634181","https://openalex.org/W2740726895","https://openalex.org/W2764313696","https://openalex.org/W2771538363","https://openalex.org/W2883357174","https://openalex.org/W2909449108","https://openalex.org/W2910489334","https://openalex.org/W2945292915","https://openalex.org/W2963256208","https://openalex.org/W2963708168","https://openalex.org/W2964014140","https://openalex.org/W2966985372","https://openalex.org/W2967222368","https://openalex.org/W2973258311","https://openalex.org/W2986519585","https://openalex.org/W3003178336","https://openalex.org/W3003250797","https://openalex.org/W3011465262","https://openalex.org/W3013761329","https://openalex.org/W3034675048","https://openalex.org/W3039808820","https://openalex.org/W3041625909","https://openalex.org/W3092669602","https://openalex.org/W3100687815","https://openalex.org/W3104290757","https://openalex.org/W3129920626","https://openalex.org/W3130609318","https://openalex.org/W3131682659","https://openalex.org/W3132982513","https://openalex.org/W3138983366","https://openalex.org/W3206820494","https://openalex.org/W4293584584","https://openalex.org/W6750227808","https://openalex.org/W6766288017"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W1985458517","https://openalex.org/W2355833770","https://openalex.org/W4386936491","https://openalex.org/W3031039437","https://openalex.org/W3110195467","https://openalex.org/W3095877357","https://openalex.org/W183202219","https://openalex.org/W2072565696"],"abstract_inverted_index":{"Highly":[0],"accurate":[1],"and":[2,26,44,59,66,72,101,126,130,152],"robust":[3,61,85],"relocalization":[4,38],"or":[5],"localization":[6],"initialization":[7],"ability":[8],"is":[9,107],"of":[10,133],"great":[11],"importance":[12],"for":[13],"autonomous":[14],"vehicles":[15],"(AVs).":[16],"Traditional":[17],"GNSS-based":[18],"methods":[19],"are":[20,48,60],"not":[21],"reliable":[22],"enough":[23],"in":[24,50,150],"occlusion":[25],"multipath":[27],"conditions.":[28],"In":[29],"this":[30,82],"paper":[31],"we":[32,110],"propose":[33],"a":[34,84,92],"novel":[35],"long-term":[36],"semantic":[37,45,86,95,105,134],"algorithm":[39],"based":[40,90],"on":[41,56,91,140],"HD":[42],"map":[43],"features":[46,53,106],"which":[47,97,120],"compact":[49],"representation.":[51],"Semantic":[52],"appear":[54],"widely":[55],"urban":[57,142],"roads,":[58],"to":[62],"illumination,":[63],"weather,":[64],"view-point":[65],"appearance":[67],"changes.":[68],"Repeated":[69],"structures,":[70],"missed":[71],"false":[73],"detections":[74],"make":[75],"data":[76],"association":[77],"(DA)":[78],"highly":[79],"ambiguous.":[80],"To":[81],"end,":[83],"feature":[87],"matching":[88,135],"method":[89,119],"new":[93],"local":[94,125],"descriptor":[96],"encodes":[98],"the":[99,124,156],"spatial":[100],"normal":[102],"relationship":[103],"between":[104],"performed.":[108],"Further,":[109],"introduce":[111],"an":[112],"accurate,":[113],"efficient,":[114],"yet":[115],"simple":[116],"outlier":[117],"removal":[118],"works":[121],"by":[122],"assessing":[123],"global":[127],"geometric":[128],"consistencies":[129],"temporal":[131],"consistency":[132],"pairs.":[136],"The":[137],"experimental":[138],"results":[139],"our":[141,146],"dataset":[143],"demonstrate":[144],"that":[145],"approach":[147],"performs":[148],"better":[149],"accuracy":[151],"robustness":[153],"compared":[154],"with":[155],"current":[157],"state-of-the-art":[158],"methods.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}