{"id":"https://openalex.org/W3207483031","doi":"https://doi.org/10.1109/icra48506.2021.9560740","title":"LiDAR-Based Initial Global Localization Using Two-Dimensional (2D) Submap Projection Image (SPI)","display_name":"LiDAR-Based Initial Global Localization Using Two-Dimensional (2D) Submap Projection Image (SPI)","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207483031","doi":"https://doi.org/10.1109/icra48506.2021.9560740","mag":"3207483031"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560740","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560740","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5083295774","display_name":"Yanhao Li","orcid":"https://orcid.org/0000-0003-4825-2584"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yanhao Li","raw_affiliation_strings":["\u00c9cole d\u2019Ing\u00e9nieurs SJTU-ParisTech (SPEIT), Shanghai, China","\u00c9cole d'Ing\u00e9nieurs SJTU-ParisTech (SPEIT), Shanghai, China"],"affiliations":[{"raw_affiliation_string":"\u00c9cole d\u2019Ing\u00e9nieurs SJTU-ParisTech (SPEIT), Shanghai, China","institution_ids":[]},{"raw_affiliation_string":"\u00c9cole d'Ing\u00e9nieurs SJTU-ParisTech (SPEIT), Shanghai, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029247200","display_name":"Hao Li","orcid":"https://orcid.org/0000-0002-2185-5433"},"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"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Li","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University (SJTU), Shanghai, China","Key Laboratory of System Control and Information Processing, Ministry of Education of China","Shanghai Engineering Research Center of Intelligent Control and Management","\u00c9cole d\u2019Ing\u00e9nieurs SJTU-ParisTech (SPEIT), Shanghai, China","\u00c9cole d'Ing\u00e9nieurs SJTU-ParisTech (SPEIT), Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University (SJTU), Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Key Laboratory of System Control and Information Processing, Ministry of Education of China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Shanghai Engineering Research Center of Intelligent Control and Management","institution_ids":[]},{"raw_affiliation_string":"\u00c9cole d\u2019Ing\u00e9nieurs SJTU-ParisTech (SPEIT), Shanghai, China","institution_ids":[]},{"raw_affiliation_string":"\u00c9cole d'Ing\u00e9nieurs SJTU-ParisTech (SPEIT), Shanghai, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5083295774"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.04,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.88156739,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5063","last_page":"5068"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.998199999332428,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.8608404397964478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7838016748428345},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7263097763061523},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.72147536277771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6741512417793274},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6269839406013489},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5659021139144897},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5237098336219788},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4789617359638214},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4783065617084503},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4609568417072296},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4469963312149048},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4288618862628937},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4247533082962036},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4089619219303131},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34064626693725586},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.22192388772964478},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1570233404636383},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09751099348068237}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8608404397964478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7838016748428345},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7263097763061523},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.72147536277771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6741512417793274},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6269839406013489},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5659021139144897},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5237098336219788},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4789617359638214},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4783065617084503},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4609568417072296},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4469963312149048},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4288618862628937},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4247533082962036},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4089619219303131},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34064626693725586},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.22192388772964478},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1570233404636383},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09751099348068237},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560740","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560740","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2117228865","https://openalex.org/W2132311402","https://openalex.org/W2151103935","https://openalex.org/W2160643963","https://openalex.org/W2160821342","https://openalex.org/W2207136187","https://openalex.org/W2527172881","https://openalex.org/W2565998037","https://openalex.org/W2620629206","https://openalex.org/W2798194297","https://openalex.org/W2892028890","https://openalex.org/W2910489334","https://openalex.org/W2914921243","https://openalex.org/W2951019013","https://openalex.org/W2951349360","https://openalex.org/W2957348723","https://openalex.org/W2963708168","https://openalex.org/W2980535048","https://openalex.org/W2986519585","https://openalex.org/W3034275286","https://openalex.org/W3039808820","https://openalex.org/W3043075211","https://openalex.org/W3099455272","https://openalex.org/W3099727102","https://openalex.org/W3106240518","https://openalex.org/W3165205231","https://openalex.org/W6683253545"],"related_works":["https://openalex.org/W4320086129","https://openalex.org/W2088028039","https://openalex.org/W2540189345","https://openalex.org/W2379763979","https://openalex.org/W2944187815","https://openalex.org/W2012910072","https://openalex.org/W2073514935","https://openalex.org/W2112986586","https://openalex.org/W2163016745","https://openalex.org/W48401697"],"abstract_inverted_index":{"Initial":[0],"global":[1,31,61,71,81,106,112],"localization":[2,32,62,72,113],"is":[3,42,92],"important":[4],"to":[5,46],"mobile":[6,26],"robotics":[7],"in":[8,18,39,51],"terms":[9],"of":[10,48,68,121],"navigation":[11],"initialization":[12],"(or":[13],"re-initialization)":[14],"and":[15,102,124,127],"loop":[16],"closure":[17],"SLAM.":[19],"3D":[20],"LiDARs":[21],"are":[22,85],"commonly":[23],"used":[24],"for":[25,87,125,129,139],"robotics,":[27],"yet":[28],"LiDAR-based":[29,69],"initial":[30,60,70,111,137],"(especially":[33],"at":[34,116],"large":[35],"scale":[36],"such":[37],"as":[38,134],"outdoor":[40],"environments)":[41],"still":[43],"challenging":[44],"due":[45],"lack":[47],"salient":[49],"features":[50],"LiDAR":[52],"range":[53],"data.":[54],"Inspired":[55],"by":[56,94],"visual":[57],"SLAM":[58],"oriented":[59],"methods,":[63],"we":[64],"propose":[65],"a":[66,105,135],"method":[67],"using":[73],"2D":[74],"submap":[75],"projection":[76],"image":[77],"(SPI).":[78],"For":[79],"this,":[80],"descriptors":[82],"from":[83,104],"SPIs":[84,103],"extracted":[86],"place":[88],"recognition;":[89],"pose":[90,141],"estimation":[91,142],"realized":[93],"feature":[95],"point":[96,147],"matching":[97],"between":[98],"the":[99],"queried":[100],"SPI":[101],"map":[107],"database.":[108],"The":[109],"proposed":[110],"module":[114],"runs":[115],"2.4":[117],"Hz":[118],"with":[119],"precision":[120],"1.2":[122],"m":[123],"translation":[126],"1.2\u00b0":[128],"rotation,":[130],"which":[131],"can":[132],"serve":[133],"suitable":[136],"estimate":[138],"subsequent":[140],"refinement":[143],"via":[144],"existing":[145],"mature":[146],"cloud":[148],"registration":[149],"methods.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
