{"id":"https://openalex.org/W4383097417","doi":"https://doi.org/10.1109/icra48891.2023.10161435","title":"DeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognition","display_name":"DeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognition","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097417","doi":"https://doi.org/10.1109/icra48891.2023.10161435"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161435","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":"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/A5083673892","display_name":"Sha Lu","orcid":"https://orcid.org/0000-0002-5434-893X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sha Lu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080268597","display_name":"Xuecheng Xu","orcid":"https://orcid.org/0000-0002-0762-6714"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuecheng Xu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100725459","display_name":"Li Tang","orcid":"https://orcid.org/0000-0003-2590-6872"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Tang","raw_affiliation_strings":["Alibaba Group,Hangzhou,China,310052"],"affiliations":[{"raw_affiliation_string":"Alibaba Group,Hangzhou,China,310052","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5083673892"],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":5.2942,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.94797995,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1904","last_page":"1911"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9965000152587891,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.735528290271759},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6581637263298035},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5613685846328735},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5562701225280762},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.5049248337745667},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.49498623609542847},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.47041136026382446},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.43479055166244507},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4213279187679291},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4167259633541107},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41365641355514526},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21793898940086365},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.08411911129951477},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08367392420768738}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.735528290271759},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6581637263298035},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5613685846328735},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5562701225280762},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.5049248337745667},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.49498623609542847},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.47041136026382446},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.43479055166244507},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4213279187679291},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4167259633541107},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41365641355514526},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21793898940086365},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.08411911129951477},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08367392420768738},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161435","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":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.5699999928474426}],"awards":[{"id":"https://openalex.org/G2543133814","display_name":null,"funder_award_id":"2021ZD0114500","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6694677545","display_name":null,"funder_award_id":"LGG21F030012","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1901129140","https://openalex.org/W2033574012","https://openalex.org/W2213518912","https://openalex.org/W2335829695","https://openalex.org/W2560609797","https://openalex.org/W2565998037","https://openalex.org/W2601450892","https://openalex.org/W2620629206","https://openalex.org/W2798194297","https://openalex.org/W2876324142","https://openalex.org/W2910489334","https://openalex.org/W2963341924","https://openalex.org/W2963708168","https://openalex.org/W2963741406","https://openalex.org/W2964105864","https://openalex.org/W2986519585","https://openalex.org/W3091337047","https://openalex.org/W3091905774","https://openalex.org/W3097606838","https://openalex.org/W3130266661","https://openalex.org/W3130609318","https://openalex.org/W3165205231","https://openalex.org/W3168086592","https://openalex.org/W3177271542","https://openalex.org/W3206352917","https://openalex.org/W3209386405","https://openalex.org/W3211389689","https://openalex.org/W4211040010","https://openalex.org/W4221157996","https://openalex.org/W4226213012","https://openalex.org/W4312942802","https://openalex.org/W6631190155","https://openalex.org/W6639824700","https://openalex.org/W6685945817","https://openalex.org/W6717697761","https://openalex.org/W6735236233","https://openalex.org/W6758126075","https://openalex.org/W6763422710","https://openalex.org/W6795654457","https://openalex.org/W6796878617","https://openalex.org/W6803124984","https://openalex.org/W6809849804"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W2956374172","https://openalex.org/W1964041166","https://openalex.org/W4210818033","https://openalex.org/W4221065211","https://openalex.org/W4309346246"],"abstract_inverted_index":{"LiDAR":[0,55],"based":[1],"place":[2,20,63,108,117],"recognition":[3,21,109],"is":[4,80,87],"popular":[5],"for":[6],"loop":[7],"closure":[8],"detection":[9],"and":[10,84,102,143],"re-localization.":[11],"In":[12],"recent":[13],"years,":[14],"deep":[15],"learning":[16,113,123],"brings":[17],"improvements":[18],"to":[19,48,124],"by":[22,89],"learnable":[23],"feature":[24,79,86],"extraction.":[25],"However,":[26],"these":[27],"methods":[28],"degenerate":[29],"when":[30],"the":[31,43,50,61,78,85,96,137,148],"robot":[32,59],"re-visits":[33],"previous":[34],"places":[35],"with":[36,64,99,115],"a":[37,65,111,119],"large":[38],"perspective":[39,67],"difference.":[40],"To":[41],"address":[42],"challenge,":[44],"we":[45,106],"propose":[46],"DeepRING":[47,146],"learn":[49],"roto-translation":[51,103],"invariant":[52],"representation":[53,98,126],"from":[54,82],"scan,":[56],"so":[57],"that":[58,145],"visiting":[60],"same":[62],"different":[66],"can":[68],"have":[69],"similar":[70],"representations.":[71],"There":[72],"are":[73,130],"two":[74,93],"keys":[75],"in":[76,152],"DeepRING:":[77],"extracted":[81],"sinogram,":[83],"aggregated":[88],"magnitude":[90],"spectrum.":[91],"The":[92],"steps":[94],"keep":[95],"final":[97],"both":[100],"discrimination":[101],"invariance.":[104],"Moreover,":[105],"state":[107],"as":[110],"one-shot":[112],"problem":[114],"each":[116,140],"being":[118],"class,":[120],"leveraging":[121],"relation":[122],"build":[125],"similarity.":[127],"Substantial":[128],"experiments":[129],"carried":[131],"out":[132],"on":[133],"public":[134],"datasets,":[135],"validating":[136],"effectiveness":[138],"of":[139],"proposed":[141],"component,":[142],"showing":[144],"outperforms":[147],"comparative":[149],"methods,":[150],"especially":[151],"dataset":[153],"level":[154],"generalization.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
