{"id":"https://openalex.org/W4313855077","doi":"https://doi.org/10.1109/icsai57119.2022.10005509","title":"Semantic Assisted LiDAR Odometry with Loop Closure in Large Scale Urban Environment","display_name":"Semantic Assisted LiDAR Odometry with Loop Closure in Large Scale Urban Environment","publication_year":2022,"publication_date":"2022-12-10","ids":{"openalex":"https://openalex.org/W4313855077","doi":"https://doi.org/10.1109/icsai57119.2022.10005509"},"language":"en","primary_location":{"id":"doi:10.1109/icsai57119.2022.10005509","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icsai57119.2022.10005509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 8th International Conference on Systems and Informatics (ICSAI)","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/A5059445819","display_name":"Jiaye Lin","orcid":"https://orcid.org/0009-0002-4485-6612"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiaye Lin","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology,Harbin,China","State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100601303","display_name":"Yanjie Liu","orcid":"https://orcid.org/0000-0002-7274-4979"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjie Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology,Harbin,China","State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5059445819"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06675995,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"1","last_page":"6"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9972000122070312,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9965000152587891,"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/odometry","display_name":"Odometry","score":0.9019753932952881},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7754605412483215},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7751119136810303},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.768975019454956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7001129388809204},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6253536343574524},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4521957337856293},{"id":"https://openalex.org/keywords/upsampling","display_name":"Upsampling","score":0.44480663537979126},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.43233299255371094},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4242822229862213},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2615371346473694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23601391911506653},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15824279189109802},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09659779071807861},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.07576772570610046}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9019753932952881},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7754605412483215},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7751119136810303},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.768975019454956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7001129388809204},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6253536343574524},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4521957337856293},{"id":"https://openalex.org/C110384440","wikidata":"https://www.wikidata.org/wiki/Q1143270","display_name":"Upsampling","level":3,"score":0.44480663537979126},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.43233299255371094},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4242822229862213},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2615371346473694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23601391911506653},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15824279189109802},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09659779071807861},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.07576772570610046},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsai57119.2022.10005509","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icsai57119.2022.10005509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 8th International Conference on Systems and Informatics (ICSAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8399999737739563}],"awards":[],"funders":[{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2085261163","https://openalex.org/W2103420503","https://openalex.org/W2130763585","https://openalex.org/W2150066425","https://openalex.org/W2155632266","https://openalex.org/W2182229738","https://openalex.org/W2296228853","https://openalex.org/W2527172881","https://openalex.org/W2909157769","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2991216808","https://openalex.org/W3099455272","https://openalex.org/W4205574455","https://openalex.org/W4223437202","https://openalex.org/W6675606146","https://openalex.org/W6685664056"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Compared":[0],"to":[1,32,37,58,72,88],"the":[2,33,74,84,90,100,107],"vision-based":[3],"approach,":[4],"LiDAR-based":[5],"SLAM":[6],"has":[7],"shown":[8],"a":[9,43],"great":[10,123],"advantage":[11],"in":[12,26,48,119],"depicting":[13],"geometric":[14],"characteristics":[15],"but":[16],"still":[17],"suffers":[18],"from":[19],"accumulated":[20],"localization":[21],"errors":[22],"during":[23],"long-term":[24],"operation":[25],"large-scale":[27],"scenarios.":[28,127],"Introducing":[29],"semantic":[30,56],"information":[31,57],"current":[34],"system":[35],"helps":[36],"discover":[38],"higher-level":[39],"features":[40,47],"and":[41,121],"establish":[42],"stronger":[44],"association":[45],"of":[46,76,92,117],"different":[49],"frames.":[50],"In":[51],"this":[52],"paper,":[53],"we":[54],"utilize":[55],"present":[59],"an":[60,114],"integral":[61],"LiDAR":[62],"odometry":[63,77],"that":[64,106],"combines":[65],"adaptive":[66],"downsampling":[67],"feature":[68],"with":[69,80,113],"label-specified":[70],"registration":[71],"boost":[73],"performance":[75],"estimation,":[78],"together":[79],"Scan":[81],"Context":[82],"as":[83],"loop":[85],"closure":[86],"module":[87],"constrain":[89],"amplification":[91],"cumulative":[93],"errors.":[94],"Experiments":[95],"are":[96],"conducted":[97],"based":[98],"on":[99],"well-known":[101],"KITTI":[102],"dataset,":[103],"which":[104],"reveals":[105],"proposed":[108],"framework":[109],"achieves":[110],"higher":[111],"accuracy":[112],"average":[115],"RTE":[116],"0.97%":[118],"real-time":[120],"shows":[122],"robustness":[124],"toward":[125],"various":[126]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}