{"id":"https://openalex.org/W3165312539","doi":"https://doi.org/10.1109/icra48506.2021.9561335","title":"Range Image-based LiDAR Localization for Autonomous Vehicles","display_name":"Range Image-based LiDAR Localization for Autonomous Vehicles","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3165312539","doi":"https://doi.org/10.1109/icra48506.2021.9561335","mag":"3165312539"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561335","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/2105.12121","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032262344","display_name":"Xieyuanli Chen","orcid":"https://orcid.org/0000-0003-0955-6681"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Xieyuanli Chen","raw_affiliation_strings":["University of Bonn, Germany","University of Bonn, Germany.,"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn, Germany.,","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043685385","display_name":"Ignacio Vizzo","orcid":"https://orcid.org/0000-0001-5140-6359"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ignacio Vizzo","raw_affiliation_strings":["University of Bonn, Germany","University of Bonn, Germany.,"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn, Germany.,","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018429768","display_name":"Thomas L\u00e4be","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Labe","raw_affiliation_strings":["University of Bonn, Germany","University of Bonn, Germany.,"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn, Germany.,","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068364473","display_name":"Jens Behley","orcid":"https://orcid.org/0000-0001-6483-0319"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Behley","raw_affiliation_strings":["University of Bonn, Germany","University of Bonn, Germany.,"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn, Germany.,","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["University of Bonn, Germany","University of Bonn, Germany.,"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn, Germany.,","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032262344"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":9.8516,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.97343839,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5802","last_page":"5808"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9937999844551086,"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/lidar","display_name":"Lidar","score":0.8667733073234558},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7533727884292603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7323627471923828},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.681813657283783},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.622215211391449},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5878233909606934},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4707264006137848},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.4538915157318115},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4430767595767975},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4354499280452728},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.43381842970848083},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.42628732323646545},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37130892276763916},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.37088048458099365},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17346864938735962},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0952443778514862}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8667733073234558},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7533727884292603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7323627471923828},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.681813657283783},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.622215211391449},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5878233909606934},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4707264006137848},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.4538915157318115},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4430767595767975},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4354499280452728},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.43381842970848083},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.42628732323646545},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37130892276763916},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.37088048458099365},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17346864938735962},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0952443778514862},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561335","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:2105.12121","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.12121","pdf_url":"https://arxiv.org/pdf/2105.12121","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:3165312539","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2105.12121","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":"doi:10.48550/arxiv.2105.12121","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2105.12121","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2105.12121","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.12121","pdf_url":"https://arxiv.org/pdf/2105.12121","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":[{"display_name":"Sustainable cities and communities","score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W179122090","https://openalex.org/W1245615701","https://openalex.org/W1479814506","https://openalex.org/W1577509784","https://openalex.org/W1907502433","https://openalex.org/W1977758817","https://openalex.org/W2008073424","https://openalex.org/W2098355846","https://openalex.org/W2105977269","https://openalex.org/W2128012088","https://openalex.org/W2130422193","https://openalex.org/W2131865378","https://openalex.org/W2160584648","https://openalex.org/W2213518912","https://openalex.org/W2336416123","https://openalex.org/W2562542491","https://openalex.org/W2786036844","https://openalex.org/W2805521962","https://openalex.org/W2899117197","https://openalex.org/W2908969420","https://openalex.org/W2948098371","https://openalex.org/W2951349360","https://openalex.org/W2962867954","https://openalex.org/W2967222368","https://openalex.org/W2981305264","https://openalex.org/W2981566147","https://openalex.org/W3003178336","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3039808820","https://openalex.org/W3090241175","https://openalex.org/W3091337047","https://openalex.org/W3100634571","https://openalex.org/W3110475565","https://openalex.org/W3146210588","https://openalex.org/W3164083741","https://openalex.org/W3165246614","https://openalex.org/W3206776160","https://openalex.org/W4250620537","https://openalex.org/W6652231383","https://openalex.org/W6679875354","https://openalex.org/W6745935785","https://openalex.org/W6747827861","https://openalex.org/W6795803855","https://openalex.org/W6802141193"],"related_works":["https://openalex.org/W3206790221","https://openalex.org/W3003591148","https://openalex.org/W3165246614","https://openalex.org/W2830418849","https://openalex.org/W3167340752","https://openalex.org/W3092571198","https://openalex.org/W3192680689","https://openalex.org/W2740024839","https://openalex.org/W2791994378","https://openalex.org/W2899856933","https://openalex.org/W3016602338","https://openalex.org/W2564931861","https://openalex.org/W2786277590","https://openalex.org/W2910925829","https://openalex.org/W2990566162","https://openalex.org/W3004228652","https://openalex.org/W3129693044","https://openalex.org/W1521569207","https://openalex.org/W2564910695","https://openalex.org/W3126674423"],"abstract_inverted_index":{"Robust":[0],"and":[1,70,85,99,131,140],"accurate,":[2],"map-based":[3],"localization":[4,92,97,109],"is":[5],"crucial":[6],"for":[7],"autonomous":[8,32],"mobile":[9,29,135],"systems.":[10],"In":[11],"this":[12],"paper,":[13],"we":[14,79],"exploit":[15],"range":[16,62],"images":[17,63],"generated":[18,64],"from":[19,65,75],"3D":[20],"LiDAR":[21,68,120,145],"scans":[22],"to":[23,53,102,149],"address":[24],"the":[25,49,55,61,66,71,76,107,144,151],"problem":[26],"of":[27,37],"localizing":[28],"robots":[30],"or":[31],"cars":[33],"in":[34,115,137],"a":[35,38,44,81,89,134],"map":[36,57],"large-scale":[39],"outdoor":[40],"environment":[41],"represented":[42],"by":[43],"triangular":[45],"mesh.":[46],"We":[47,105],"use":[48],"Poisson":[50],"surface":[51],"reconstruction":[52],"generate":[54],"mesh-based":[56,77],"representation.":[58],"Based":[59],"on":[60,111],"current":[67],"scan":[69],"synthetic":[72],"rendered":[73],"views":[74],"map,":[78],"propose":[80],"new":[82],"observation":[83],"model":[84],"integrate":[86],"it":[87],"into":[88],"Monte":[90],"Carlo":[91],"framework,":[93],"which":[94],"achieves":[95],"better":[96],"performance":[98],"generalizes":[100],"well":[101],"different":[103,116,119,138],"environments.":[104],"test":[106],"proposed":[108],"approach":[110],"multiple":[112],"datasets":[113],"collected":[114],"environments":[117,139],"with":[118],"scanners.":[121],"The":[122],"experimental":[123],"results":[124],"show":[125],"that":[126],"our":[127],"method":[128],"can":[129],"reliably":[130],"accurately":[132],"localize":[133],"system":[136],"operate":[141],"online":[142],"at":[143],"sensor":[146],"frame":[147],"rate":[148],"track":[150],"vehicle":[152],"pose.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}