{"id":"https://openalex.org/W3108681405","doi":"https://doi.org/10.1109/icra48506.2021.9560915","title":"Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling","display_name":"Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3108681405","doi":"https://doi.org/10.1109/icra48506.2021.9560915","mag":"3108681405"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560915","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2011.14497","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045105163","display_name":"Kavisha Vidanapathirana","orcid":"https://orcid.org/0000-0001-9875-3577"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kavisha Vidanapathirana","raw_affiliation_strings":["DATA61, CSIRO, Robotics and Autonomous Systems Group, Brisbane, QLD, Australia","School of Electrical Engineering and Robotics, Queensland University of Technology (QUT), Brisbane, Australia","Robotics and Autonomous Systems Group,DATA61, CSIRO,Brisbane,QLD,Australia,4069"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DATA61, CSIRO, Robotics and Autonomous Systems Group, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]},{"raw_affiliation_string":"School of Electrical Engineering and Robotics, Queensland University of Technology (QUT), Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group,DATA61, CSIRO,Brisbane,QLD,Australia,4069","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008586469","display_name":"Peyman Moghadam","orcid":"https://orcid.org/0000-0002-8169-3560"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Peyman Moghadam","raw_affiliation_strings":["DATA61, CSIRO, Robotics and Autonomous Systems Group, Brisbane, QLD, Australia","School of Electrical Engineering and Robotics, Queensland University of Technology (QUT), Brisbane, Australia","Robotics and Autonomous Systems Group,DATA61, CSIRO,Brisbane,QLD,Australia,4069"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DATA61, CSIRO, Robotics and Autonomous Systems Group, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]},{"raw_affiliation_string":"School of Electrical Engineering and Robotics, Queensland University of Technology (QUT), Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group,DATA61, CSIRO,Brisbane,QLD,Australia,4069","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073083198","display_name":"Ben Harwood","orcid":null},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ben Harwood","raw_affiliation_strings":["DATA61, CSIRO, Robotics and Autonomous Systems Group, Brisbane, QLD, Australia","Robotics and Autonomous Systems Group,DATA61, CSIRO,Brisbane,QLD,Australia,4069"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DATA61, CSIRO, Robotics and Autonomous Systems Group, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group,DATA61, CSIRO,Brisbane,QLD,Australia,4069","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102924228","display_name":"Muming Zhao","orcid":"https://orcid.org/0000-0003-3646-8927"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Muming Zhao","raw_affiliation_strings":["DATA61, CSIRO, Robotics and Autonomous Systems Group, Brisbane, QLD, Australia","Robotics and Autonomous Systems Group,DATA61, CSIRO,Brisbane,QLD,Australia,4069"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DATA61, CSIRO, Robotics and Autonomous Systems Group, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group,DATA61, CSIRO,Brisbane,QLD,Australia,4069","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055128383","display_name":"Sridha Sridharan","orcid":"https://orcid.org/0000-0003-4316-9001"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sridha Sridharan","raw_affiliation_strings":["School of Electrical Engineering and Robotics, Queensland University of Technology (QUT), Brisbane, Australia","Queensland University of Technology (QUT),School of Electrical Engineering and Robotics,Brisbane,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Robotics, Queensland University of Technology (QUT), Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"Queensland University of Technology (QUT),School of Electrical Engineering and Robotics,Brisbane,Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034095159","display_name":"Clinton Fookes","orcid":"https://orcid.org/0000-0002-8515-6324"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Clinton Fookes","raw_affiliation_strings":["School of Electrical Engineering and Robotics, Queensland University of Technology (QUT), Brisbane, Australia","Queensland University of Technology (QUT),School of Electrical Engineering and Robotics,Brisbane,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Robotics, Queensland University of Technology (QUT), Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"Queensland University of Technology (QUT),School of Electrical Engineering and Robotics,Brisbane,Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.3945,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94924295,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5075","last_page":"5081"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9987000226974487,"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":0.9983999729156494,"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/discriminative-model","display_name":"Discriminative model","score":0.7850610017776489},{"id":"https://openalex.org/keywords/pooling","display_name":"Pooling","score":0.7531507015228271},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6982523202896118},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6691708564758301},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6581531763076782},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6063730120658875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4898082911968231},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4690813422203064},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.44631749391555786},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.43140241503715515},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2476276457309723},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23230981826782227},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.08707743883132935}],"concepts":[{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.7850610017776489},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.7531507015228271},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6982523202896118},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6691708564758301},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6581531763076782},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6063730120658875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4898082911968231},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4690813422203064},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.44631749391555786},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.43140241503715515},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2476276457309723},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23230981826782227},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.08707743883132935},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra48506.2021.9560915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560915","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"},{"id":"pmh:oai:arXiv.org:2011.14497","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.14497","pdf_url":"https://arxiv.org/pdf/2011.14497","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"raw_type":"text"},{"id":"mag:3108681405","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2011.14497.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"pmh:oai:eprints.qut.edu.au:232983","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021)","raw_type":"Chapter in Book, Report or Conference volume"},{"id":"doi:10.48550/arxiv.2011.14497","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2011.14497","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"pmh:oai:arXiv.org:2011.14497","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.14497","pdf_url":"https://arxiv.org/pdf/2011.14497","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W78159342","https://openalex.org/W1966385142","https://openalex.org/W1972485825","https://openalex.org/W1984309565","https://openalex.org/W2021542322","https://openalex.org/W2104657103","https://openalex.org/W2110405746","https://openalex.org/W2115579991","https://openalex.org/W2129486961","https://openalex.org/W2144824356","https://openalex.org/W2153504150","https://openalex.org/W2324076434","https://openalex.org/W2527172881","https://openalex.org/W2565998037","https://openalex.org/W2601789736","https://openalex.org/W2620629206","https://openalex.org/W2902610326","https://openalex.org/W2910489334","https://openalex.org/W2912965286","https://openalex.org/W2957348723","https://openalex.org/W2963517005","https://openalex.org/W2963708168","https://openalex.org/W2986519585","https://openalex.org/W3002158350","https://openalex.org/W3003250797","https://openalex.org/W3011465262","https://openalex.org/W3034258123","https://openalex.org/W3097606838","https://openalex.org/W3099455272","https://openalex.org/W3099727102","https://openalex.org/W3100687815","https://openalex.org/W3132982513","https://openalex.org/W6656054602","https://openalex.org/W6780391245"],"related_works":["https://openalex.org/W3212228888","https://openalex.org/W3212939875","https://openalex.org/W2161168419","https://openalex.org/W2804937815","https://openalex.org/W2991156746","https://openalex.org/W3008274274","https://openalex.org/W3211391682","https://openalex.org/W3110033157","https://openalex.org/W3042386787","https://openalex.org/W3033565624","https://openalex.org/W2769571673","https://openalex.org/W3199206228","https://openalex.org/W3034981362","https://openalex.org/W3115177024","https://openalex.org/W2310853593","https://openalex.org/W242449877","https://openalex.org/W2061020702","https://openalex.org/W3195006234","https://openalex.org/W3135859438","https://openalex.org/W3000527392"],"abstract_inverted_index":{"Place":[0],"Recognition":[1],"enables":[2],"the":[3,60,102,114],"estimation":[4],"of":[5,62,104],"a":[6,26,41,55,81,94],"globally":[7],"consistent":[8],"map":[9],"and":[10,19,45,48,57,73,131],"trajectory":[11],"by":[12],"providing":[13],"non-local":[14],"constraints":[15],"in":[16,36,54,66,134],"Simultaneous":[17],"Localisation":[18],"Mapping":[20],"(SLAM).":[21],"This":[22],"paper":[23],"presents":[24],"Locus,":[25],"novel":[27],"place":[28,67],"recognition":[29],"method":[30,42,109],"using":[31],"3D":[32,135],"LiDAR":[33,136],"point":[34,137],"clouds":[35],"large-scale":[37],"environments.":[38],"We":[39],"propose":[40],"for":[43],"extracting":[44],"encoding":[46],"topological":[47],"temporal":[49],"information":[50,65],"related":[51],"to":[52,70,87,92,101,121],"components":[53],"scene":[56,75],"demonstrate":[58],"how":[59],"inclusion":[61],"this":[63],"auxiliary":[64],"description":[68],"leads":[69],"more":[71],"robust":[72,123],"discriminative":[74],"representations.":[76],"Second-order":[77],"pooling":[78],"along":[79],"with":[80],"non-":[82],"linear":[83],"transform":[84],"is":[85,99,119,142],"used":[86],"aggregate":[88],"these":[89],"multi-level":[90],"features":[91],"generate":[93],"fixed-length":[95],"global":[96],"descriptor,":[97],"which":[98],"invariant":[100],"permutation":[103],"input":[105],"features.":[106],"The":[107,139],"proposed":[108],"outperforms":[110],"state-of-the-art":[111],"methods":[112],"on":[113],"KITTI":[115],"dataset.":[116],"Furthermore,":[117],"Locus":[118],"demonstrated":[120],"be":[122],"across":[124],"several":[125],"challenging":[126],"situations":[127],"such":[128],"as":[129],"occlusions":[130],"viewpoint":[132],"changes":[133],"clouds.":[138],"open-source":[140],"implementation":[141],"available":[143],"at:":[144],"https://github.com/csiro-robotics/locus.":[145]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}