{"id":"https://openalex.org/W4413926188","doi":"https://doi.org/10.1109/icra55743.2025.11128163","title":"Effective Heterogeneous Point Cloud-Based Place Recognition and Relative Localization for Ground and Aerial Vehicles","display_name":"Effective Heterogeneous Point Cloud-Based Place Recognition and Relative Localization for Ground and Aerial Vehicles","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926188","doi":"https://doi.org/10.1109/icra55743.2025.11128163"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128163","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128163","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5101724957","display_name":"Rui Mao","orcid":"https://orcid.org/0000-0002-3645-5520"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Rui Mao","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-Sen University,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-Sen University,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101460262","display_name":"Hui Cheng","orcid":"https://orcid.org/0000-0003-1535-3979"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Cheng","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-Sen University,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-Sen University,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101724957"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.114077,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15828","last_page":"15834"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9909999966621399,"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":0.9909999966621399,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9589999914169312,"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/point-cloud","display_name":"Point cloud","score":0.7755405902862549},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5871529579162598},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5121700763702393},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45836716890335083},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4545518457889557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45346394181251526},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.41643205285072327},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.41073551774024963},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2534399926662445},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09356614947319031},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06464943289756775}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7755405902862549},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5871529579162598},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5121700763702393},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45836716890335083},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4545518457889557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45346394181251526},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.41643205285072327},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.41073551774024963},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2534399926662445},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09356614947319031},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06464943289756775},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128163","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128163","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1951972270","display_name":null,"funder_award_id":"U22A2095","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1989484209","https://openalex.org/W2117228865","https://openalex.org/W2150066425","https://openalex.org/W2565998037","https://openalex.org/W2788806311","https://openalex.org/W2910489334","https://openalex.org/W2951019013","https://openalex.org/W3091337047","https://openalex.org/W3094626211","https://openalex.org/W3130609318","https://openalex.org/W3133648073","https://openalex.org/W3206411252","https://openalex.org/W3206845495","https://openalex.org/W4205616157","https://openalex.org/W4249866455","https://openalex.org/W4285147600","https://openalex.org/W4285613949","https://openalex.org/W4309591753","https://openalex.org/W4313639518","https://openalex.org/W4315778466","https://openalex.org/W4383066341","https://openalex.org/W4383097620","https://openalex.org/W4383200234","https://openalex.org/W4385245566","https://openalex.org/W4385975620","https://openalex.org/W4388983773","https://openalex.org/W4390778110","https://openalex.org/W4390873617","https://openalex.org/W4390905132","https://openalex.org/W4391216062","https://openalex.org/W4393864935","https://openalex.org/W4401415144","https://openalex.org/W4401415973","https://openalex.org/W4401416545"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W3150465815","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W1997222214","https://openalex.org/W4413232173","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W2802581102"],"abstract_inverted_index":{"Place":[0],"recognition":[1,59],"and":[2,15,27,105,112],"relative":[3,73],"localization":[4],"are":[5,28],"crucial":[6],"for":[7,31,57,72],"realizing":[8],"the":[9,84],"potential":[10],"of":[11,80,86],"collaboration":[12,63],"in":[13,35,60,109],"ground":[14,25,111],"aerial":[16,113],"robot":[17,33],"teams.":[18],"Many":[19],"existing":[20],"works":[21],"focus":[22],"only":[23],"on":[24,47,77],"robots":[26],"not":[29],"well-suited":[30],"heterogeneous":[32],"systems":[34],"large-scale":[36],"environments.":[37],"In":[38],"this":[39],"paper,":[40],"we":[41],"propose":[42],"a":[43,110],"novel":[44],"pipeline":[45],"based":[46],"BEV":[48],"density":[49],"image,":[50],"combined":[51],"with":[52],"an":[53],"enhanced":[54],"data":[55],"structure,":[56],"place":[58],"air-ground":[61],"robotic":[62],"systems.":[64],"An":[65],"efficient":[66],"height":[67],"alignment":[68],"algorithm":[69],"is":[70,100],"proposed":[71],"localization.":[74],"Extensive":[75],"experiments":[76],"various":[78],"types":[79],"public":[81],"datasets":[82],"validate":[83],"efficacy":[85],"our":[87,98],"method":[88,99],"compared":[89],"to":[90,102],"other":[91],"SOTA":[92],"works.":[93],"We":[94],"also":[95],"show":[96],"that":[97],"capable":[101],"detect":[103],"inter-":[104],"intra-robot":[106],"loop":[107],"closures":[108],"multi-session":[114],"SLAM":[115],"system.":[116]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}