{"id":"https://openalex.org/W4383108930","doi":"https://doi.org/10.1109/icra48891.2023.10161128","title":"Slice Transformer and Self-supervised Learning for 6DoF Localization in 3D Point Cloud Maps","display_name":"Slice Transformer and Self-supervised Learning for 6DoF Localization in 3D Point Cloud Maps","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108930","doi":"https://doi.org/10.1109/icra48891.2023.10161128"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161128","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5069966470","display_name":"Muhammad Ibrahim","orcid":"https://orcid.org/0000-0002-1556-8702"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Muhammad Ibrahim","raw_affiliation_strings":["The University of Western Australia,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Western Australia,Department of Computer Science","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069697936","display_name":"Naveed Akhtar","orcid":"https://orcid.org/0000-0003-3406-673X"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Naveed Akhtar","raw_affiliation_strings":["The University of Western Australia,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Western Australia,Department of Computer Science","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084633048","display_name":"Saeed Anwar","orcid":"https://orcid.org/0000-0002-0692-8411"},"institutions":[{"id":"https://openalex.org/I134085113","display_name":"King Fahd University of Petroleum and Minerals","ror":"https://ror.org/03yez3163","country_code":"SA","type":"education","lineage":["https://openalex.org/I134085113"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Saeed Anwar","raw_affiliation_strings":["King Fahad University of Petroleum and Minerals (KFUPM),Dhahran,KSA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King Fahad University of Petroleum and Minerals (KFUPM),Dhahran,KSA","institution_ids":["https://openalex.org/I134085113"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077067779","display_name":"Michael J. Wise","orcid":"https://orcid.org/0000-0001-6559-4303"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Wise","raw_affiliation_strings":["The University of Western Australia,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Western Australia,Department of Computer Science","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089986388","display_name":"Ajmal Mian","orcid":"https://orcid.org/0000-0002-5206-3842"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ajmal Mian","raw_affiliation_strings":["The University of Western Australia,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Western Australia,Department of Computer Science","institution_ids":["https://openalex.org/I177877127"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11763","last_page":"11770"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9962000250816345,"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":0.8215470314025879},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7326510548591614},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.731067419052124},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6961550116539001},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5763170123100281},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5291507840156555},{"id":"https://openalex.org/keywords/supervised-learning","display_name":"Supervised learning","score":0.4542858600616455},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44206956028938293},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3689382076263428},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.35912400484085083},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3304549753665924},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1446835994720459}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8215470314025879},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7326510548591614},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.731067419052124},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6961550116539001},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5763170123100281},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5291507840156555},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.4542858600616455},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44206956028938293},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3689382076263428},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.35912400484085083},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3304549753665924},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1446835994720459},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161128","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5699999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W1650975994","https://openalex.org/W1920022804","https://openalex.org/W2012502415","https://openalex.org/W2021063678","https://openalex.org/W2150066425","https://openalex.org/W2560609797","https://openalex.org/W2742069755","https://openalex.org/W2770866044","https://openalex.org/W2798278946","https://openalex.org/W2810240468","https://openalex.org/W2883357174","https://openalex.org/W2955544543","https://openalex.org/W2962701877","https://openalex.org/W2963121255","https://openalex.org/W2963158438","https://openalex.org/W2980857376","https://openalex.org/W2981440248","https://openalex.org/W2985516791","https://openalex.org/W2991215750","https://openalex.org/W2997032998","https://openalex.org/W3090139470","https://openalex.org/W3091498919","https://openalex.org/W3097717239","https://openalex.org/W3103406720","https://openalex.org/W3111535274","https://openalex.org/W3118644257","https://openalex.org/W3120688681","https://openalex.org/W3121523901","https://openalex.org/W3122885952","https://openalex.org/W3128716822","https://openalex.org/W3133957302","https://openalex.org/W3138516171","https://openalex.org/W3151130473","https://openalex.org/W3153465022","https://openalex.org/W3159695738","https://openalex.org/W3170874841","https://openalex.org/W3171125843","https://openalex.org/W3194137276","https://openalex.org/W3194700450","https://openalex.org/W3194973398","https://openalex.org/W3202611145","https://openalex.org/W3203089644","https://openalex.org/W3207344666","https://openalex.org/W3208248739","https://openalex.org/W3212680124","https://openalex.org/W4214624153","https://openalex.org/W4214755140","https://openalex.org/W4214893857","https://openalex.org/W4249866455","https://openalex.org/W4280565838","https://openalex.org/W4290055897","https://openalex.org/W4312270234","https://openalex.org/W4372053342","https://openalex.org/W4385245566","https://openalex.org/W6640300118","https://openalex.org/W6739778489","https://openalex.org/W6739901393","https://openalex.org/W6763422710","https://openalex.org/W6770404345","https://openalex.org/W6785651463","https://openalex.org/W6788135285","https://openalex.org/W6794977893","https://openalex.org/W6810822816","https://openalex.org/W6837961231","https://openalex.org/W6841095953"],"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/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4287694812","https://openalex.org/W3128716822","https://openalex.org/W3046762217"],"abstract_inverted_index":{"Precise":[0],"localization":[1,25,112],"is":[2,68,114],"critical":[3],"for":[4,16,20,76,107,132],"autonomous":[5],"vehicles.":[6],"We":[7,29,80,122],"present":[8],"a":[9,31,39,87],"self-supervised":[10,129],"learning":[11,130],"method":[12,113],"that":[13,34],"employs":[14,53],"transformers":[15],"the":[17,21,36,59,62,69,83,125,133],"first":[18,70],"time":[19],"task":[22,33,136],"of":[23,38,64,72,91,127,137],"outdoor":[24,77],"using":[26,140],"LiDAR":[27,41,89],"data.":[28],"propose":[30],"pre-text":[32],"reorganizes":[35],"slices":[37],"360\u00b0":[40],"scan":[42],"to":[43],"leverage":[44],"its":[45],"axial":[46],"properties.":[47],"Our":[48],"model,":[49],"called":[50],"Slice":[51],"Transformer,":[52],"multi-head":[54,74],"attention":[55,75],"while":[56],"systematically":[57],"processing":[58],"slices.":[60],"To":[61],"best":[63],"our":[65,128],"knowledge,":[66],"this":[67],"instance":[71],"leveraging":[73],"point":[78],"clouds.":[79],"additionally":[81],"introduce":[82],"Perth-Wadataset,":[84],"which":[85],"provides":[86],"large-scale":[88],"map":[90],"Perth":[92,108],"city":[93],"in":[94],"Western":[95],"Australia,":[96],"covering":[97],"~4km":[98],"<sup":[99],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[100],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[101],"area.":[102],"Localization":[103],"annotations":[104],"are":[105],"provided":[106],"-":[109],"Wa.The":[110],"proposed":[111],"thoroughly":[115],"evaluated":[116],"on":[117],"Perth-WA":[118,148],"and":[119,142,147],"Appollo-SouthBay":[120],"datasets.":[121,144],"also":[123],"establish":[124],"efficacy":[126],"approach":[131],"common":[134],"downstream":[135],"object":[138],"classification":[139],"ModelNet40":[141],"ScanNN":[143],"The":[145],"code":[146],"data":[149],"will":[150],"be":[151],"publicly":[152],"released.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}