{"id":"https://openalex.org/W4401417301","doi":"https://doi.org/10.1109/icra57147.2024.10611408","title":"Night-Rider: Nocturnal Vision-aided Localization in Streetlight Maps Using Invariant Extended Kalman Filtering","display_name":"Night-Rider: Nocturnal Vision-aided Localization in Streetlight Maps Using Invariant Extended Kalman Filtering","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417301","doi":"https://doi.org/10.1109/icra57147.2024.10611408"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611408","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5103955388","display_name":"Tianxiao Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Tianxiao Gao","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China"],"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China","institution_ids":["https://openalex.org/I6469544","https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078764684","display_name":"Mingle Zhao","orcid":"https://orcid.org/0009-0006-9535-2974"},"institutions":[{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]},{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Mingle Zhao","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China"],"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China","institution_ids":["https://openalex.org/I6469544","https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012773300","display_name":"Chengzhong Xu","orcid":"https://orcid.org/0000-0001-9480-0356"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Chengzhong Xu","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China"],"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China","institution_ids":["https://openalex.org/I6469544","https://openalex.org/I204512498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036133825","display_name":"Hui Kong","orcid":"https://orcid.org/0000-0002-5303-0276"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Hui Kong","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China"],"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), Faculty of Science and Technology,Macao,China","institution_ids":["https://openalex.org/I6469544","https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103955388"],"corresponding_institution_ids":["https://openalex.org/I204512498","https://openalex.org/I6469544"],"apc_list":null,"apc_paid":null,"fwci":3.9135,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93606421,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10238","last_page":"10244"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"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":0.998199999332428,"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":0.9919999837875366,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.991100013256073,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7498916983604431},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6313965320587158},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5598444938659668},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5582691431045532},{"id":"https://openalex.org/keywords/nocturnal","display_name":"Nocturnal","score":0.5491622686386108},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5466639399528503},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32687506079673767},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1998312771320343},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.16863125562667847}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7498916983604431},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6313965320587158},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5598444938659668},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5582691431045532},{"id":"https://openalex.org/C2777334680","wikidata":"https://www.wikidata.org/wiki/Q1607611","display_name":"Nocturnal","level":2,"score":0.5491622686386108},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5466639399528503},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32687506079673767},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1998312771320343},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.16863125562667847},{"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/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611408","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":0.49000000953674316,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337495","display_name":"Technology Development","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1505859121","https://openalex.org/W1559536185","https://openalex.org/W1943808550","https://openalex.org/W1991544872","https://openalex.org/W2021851106","https://openalex.org/W2065429801","https://openalex.org/W2222512263","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2567328166","https://openalex.org/W2740924709","https://openalex.org/W2745859992","https://openalex.org/W3000625188","https://openalex.org/W3003178336","https://openalex.org/W3003456500","https://openalex.org/W3003813985","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W3130129454","https://openalex.org/W3130609318","https://openalex.org/W3132498603","https://openalex.org/W3166418858","https://openalex.org/W3181568189","https://openalex.org/W3206820494","https://openalex.org/W4210423514","https://openalex.org/W4312527924","https://openalex.org/W4383097459","https://openalex.org/W6695250641"],"related_works":["https://openalex.org/W1576176076","https://openalex.org/W1794612831","https://openalex.org/W1972644680","https://openalex.org/W3013971698","https://openalex.org/W172899504","https://openalex.org/W4319721678","https://openalex.org/W1968079525","https://openalex.org/W2105817955","https://openalex.org/W1979279012","https://openalex.org/W1999971267"],"abstract_inverted_index":{"Vision-aided":[0],"localization":[1,25,64,124],"for":[2,56,96,110],"low-cost":[3],"mobile":[4],"robots":[5],"in":[6,20,66,134],"diverse":[7],"environments":[8],"has":[9],"attracted":[10],"widespread":[11],"attention":[12],"recently.":[13],"Although":[14],"many":[15],"current":[16],"systems":[17],"are":[18,52],"applicable":[19],"daytime":[21],"environments,":[22],"nocturnal":[23,43,62,136],"visual":[24,37,54],"is":[26,45,107],"still":[27],"an":[28],"open":[29],"problem":[30],"owing":[31],"to":[32,89],"the":[33,47,83],"lack":[34],"of":[35,131],"stable":[36],"information.":[38],"An":[39],"insight":[40],"from":[41],"most":[42],"scenes":[44],"that":[46,116],"static":[48],"and":[49,74,93,122],"bright":[50],"streetlights":[51],"reliable":[53],"information":[55],"localization.":[57],"Hence":[58],"we":[59],"propose":[60],"a":[61,70,103],"vision-aided":[63],"system":[65,119],"streetlight":[67],"maps":[68],"with":[69,125],"novel":[71],"data":[72],"association":[73],"matching":[75],"scheme":[76],"using":[77],"object":[78],"detection":[79],"methods.":[80],"We":[81],"leverage":[82],"Invariant":[84],"Extended":[85],"Kalman":[86],"Filter":[87],"(InEKF)":[88],"fuse":[90],"IMU,":[91],"odometer,":[92],"camera":[94],"measurements":[95],"consistent":[97],"state":[98],"estimation":[99],"at":[100],"night.":[101],"Furthermore,":[102],"tracking":[104,111],"recovery":[105],"module":[106],"also":[108],"designed":[109],"failures.":[112],"Experimental":[113],"results":[114],"indicate":[115],"our":[117],"proposed":[118],"achieves":[120],"accurate":[121],"robust":[123],"less":[126],"than":[127],"0.2%":[128],"relative":[129],"error":[130],"trajectory":[132],"length":[133],"four":[135],"environments.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
