{"id":"https://openalex.org/W2102547895","doi":"https://doi.org/10.1109/iros.2011.6094944","title":"Visual localization in fused image and laser range data","display_name":"Visual localization in fused image and laser range data","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2102547895","doi":"https://doi.org/10.1109/iros.2011.6094944","mag":"2102547895"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094944","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5051442890","display_name":"Nicholas Carlevaris\u2010Bianco","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Carlevaris-Bianco","raw_affiliation_strings":["Department Electrical Engineering & Computer Science, University of Michigan, Ann Arbor, MI, USA","Dept. Electrical Eng. & Computer Science, University of Michigan, Ann Arbor, 48109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Electrical Engineering & Computer Science, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Dept. Electrical Eng. & Computer Science, University of Michigan, Ann Arbor, 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103585051","display_name":"Anush Mohan","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anush Mohan","raw_affiliation_strings":["Department Electrical Engineering & Computer Science, University of Michigan, Ann Arbor, MI, USA","Dept. Electrical Eng. & Computer Science, University of Michigan, Ann Arbor, 48109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Electrical Engineering & Computer Science, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Dept. Electrical Eng. & Computer Science, University of Michigan, Ann Arbor, 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037493550","display_name":"James R. McBride","orcid":"https://orcid.org/0000-0003-0161-7283"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James R. McBride","raw_affiliation_strings":["Research and Innovation Center, Ford Motor Company, Dearborn, MI, USA","Research and Innovation Center, Ford Motor Company, Dearborn, Michigan 48124, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Innovation Center, Ford Motor Company, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]},{"raw_affiliation_string":"Research and Innovation Center, Ford Motor Company, Dearborn, Michigan 48124, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020864898","display_name":"Ryan M. Eustice","orcid":"https://orcid.org/0000-0002-9989-4942"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan M. Eustice","raw_affiliation_strings":["Department Naval Architecture & Marine Eng, University of Michigan, Ann Arbor, MI, USA","Dept. Naval Architecture & Marine Eng., University of Michigan, Ann Arbor, 48109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department Naval Architecture & Marine Eng, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Dept. Naval Architecture & Marine Eng., University of Michigan, Ann Arbor, 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9089,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.89879477,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"4378","last_page":"4385"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6383877992630005},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6140760779380798},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5831120014190674},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5207316875457764},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.44766709208488464},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.424961656332016},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.2096835970878601},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.14139866828918457},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09488102793693542}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6383877992630005},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6140760779380798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5831120014190674},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5207316875457764},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.44766709208488464},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.424961656332016},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2096835970878601},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.14139866828918457},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09488102793693542},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2011.6094944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094944","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.367.4999","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.367.4999","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robots.engin.umich.edu/publications/ncarlevaris-2011b.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1504992226","https://openalex.org/W1995963656","https://openalex.org/W1997645979","https://openalex.org/W2004835121","https://openalex.org/W2058009001","https://openalex.org/W2078576466","https://openalex.org/W2085261163","https://openalex.org/W2100656575","https://openalex.org/W2125795712","https://openalex.org/W2128017662","https://openalex.org/W2131846894","https://openalex.org/W2134446283","https://openalex.org/W2144824356","https://openalex.org/W2148820580","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2171778162","https://openalex.org/W2505763307","https://openalex.org/W4238681124","https://openalex.org/W6679055200"],"related_works":["https://openalex.org/W2005185696","https://openalex.org/W2161229648","https://openalex.org/W2235753890","https://openalex.org/W2993674027","https://openalex.org/W2130228941","https://openalex.org/W2092957489","https://openalex.org/W2314419244","https://openalex.org/W2132132164","https://openalex.org/W2889893736","https://openalex.org/W1533292911"],"abstract_inverted_index":{"This":[0,72,160],"paper":[1],"reports":[2],"on":[3,123],"a":[4,8,13,42,97],"method":[5,31],"for":[6,85],"tracking":[7],"camera":[9,38,56],"system":[10],"within":[11],"an":[12],"priori":[14],"known":[15],"map":[16,44,138],"constructed":[17],"from":[18,144],"co-registered":[19],"3D":[20,35],"light":[21],"detection":[22],"and":[23,26,37,55,62,147,157],"ranging":[24],"(LIDAR)":[25],"omnidirectional":[27],"image":[28],"data.":[29],"Our":[30],"pre-processes":[32],"the":[33,52,78,88,93,103,114,118,137,169],"raw":[34],"LIDAR":[36,54],"data":[39,57,125,143,152],"to":[40,48,69,75,100,112,165],"produce":[41],"sparse":[43],"that":[45,65,81],"can":[46],"scale":[47],"city-size":[49],"environments.":[50],"From":[51],"original":[53],"we":[58,91],"extract":[59],"visual":[60,79,94],"features":[61,80,95],"identify":[63],"those":[64],"are":[66,82],"most":[67,83],"robust":[68],"varying":[70],"viewpoint.":[71],"allows":[73],"us":[74],"include":[76],"only":[77],"useful":[84],"localization":[86,111,148],"in":[87,154,168],"map.":[89,119],"Additionally,":[90],"quantize":[92],"using":[96,141,151],"vocabulary":[98],"tree":[99],"further":[101],"reduce":[102],"map's":[104],"file":[105],"size.":[106],"We":[107,120],"then":[108],"use":[109],"vision-based":[110],"track":[113],"vehicle's":[115],"motion":[116],"through":[117],"present":[121],"results":[122],"urban":[124,142],"collected":[126,153],"with":[127],"Ford":[128],"Motor":[129],"Company's":[130],"autonomous":[131],"vehicle":[132],"testbed.":[133],"In":[134],"our":[135,162],"experiments":[136],"is":[139,149],"built":[140],"winter":[145,158],"2009,":[146],"performed":[150],"fall":[155],"2010":[156],"2011.":[159],"demonstrates":[161],"algorithm's":[163],"robustness":[164],"temporal":[166],"changes":[167],"environment.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
