{"id":"https://openalex.org/W2910925829","doi":"https://doi.org/10.1109/iros.2018.8593854","title":"PoseMap: Lifelong, Multi-Environment 3D LiDAR Localization","display_name":"PoseMap: Lifelong, Multi-Environment 3D LiDAR Localization","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910925829","doi":"https://doi.org/10.1109/iros.2018.8593854","mag":"2910925829"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5041363614","display_name":"Philipp Egger","orcid":"https://orcid.org/0000-0003-3380-2061"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Philipp Egger","raw_affiliation_strings":["Data61, CSIRO, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data61, CSIRO, Australia","institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I42894916"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Paulo V K Borges","orcid":null},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Paulo V K Borges","raw_affiliation_strings":["Data61, CSIRO, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data61, CSIRO, Australia","institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I42894916"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007698160","display_name":"Gavin Catt","orcid":"https://orcid.org/0000-0002-7788-6618"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gavin Catt","raw_affiliation_strings":["Data61, CSIRO, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data61, CSIRO, Australia","institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I42894916"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016786013","display_name":"Andreas Pfrunder","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Andreas Pfrunder","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020474391","display_name":"Renaud Dub\u00e9","orcid":"https://orcid.org/0000-0003-0090-3667"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Renaud Dube","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.5186,"has_fulltext":false,"cited_by_count":59,"citation_normalized_percentile":{"value":0.99564765,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3430","last_page":"3437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9952999949455261,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7744803428649902},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7267906665802002},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7030931711196899},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6882859468460083},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6769509315490723},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6380127668380737},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.584205150604248},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5738545060157776},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5080749988555908},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5000181198120117},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4814107418060303},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30212342739105225},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2594054937362671},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.23844921588897705},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1769128441810608},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1153792142868042},{"id":"https://openalex.org/keywords/photogrammetry","display_name":"Photogrammetry","score":0.09297773241996765}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7744803428649902},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7267906665802002},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7030931711196899},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6882859468460083},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6769509315490723},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6380127668380737},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.584205150604248},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5738545060157776},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5080749988555908},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5000181198120117},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4814107418060303},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30212342739105225},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2594054937362671},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.23844921588897705},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1769128441810608},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1153792142868042},{"id":"https://openalex.org/C117455697","wikidata":"https://www.wikidata.org/wiki/Q190149","display_name":"Photogrammetry","level":2,"score":0.09297773241996765},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1521569207","https://openalex.org/W1824640608","https://openalex.org/W1875235752","https://openalex.org/W1963849668","https://openalex.org/W1967740178","https://openalex.org/W1976809435","https://openalex.org/W1988322066","https://openalex.org/W1999050017","https://openalex.org/W2041620409","https://openalex.org/W2054804188","https://openalex.org/W2065202099","https://openalex.org/W2096020743","https://openalex.org/W2130422193","https://openalex.org/W2133844819","https://openalex.org/W2196524641","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2527172881","https://openalex.org/W2773432235","https://openalex.org/W2774206966","https://openalex.org/W2798278946","https://openalex.org/W2963046720","https://openalex.org/W3099455272"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2768378493","https://openalex.org/W2991246638","https://openalex.org/W3033220023","https://openalex.org/W2963200201"],"abstract_inverted_index":{"Reliable":[0],"long-term":[1,20],"localization":[2,21,101,148,201],"is":[3,49],"key":[4],"for":[5,19,85,100,113],"robotic":[6],"systems":[7],"in":[8,52,156],"dynamic":[9],"environments.":[10],"In":[11,27],"this":[12,92],"paper,":[13],"we":[14,29],"propose":[15],"a":[16,53,73,89,95,104,141,179,185,199],"novel":[17],"approach":[18,134],"using":[22,135],"3D":[23,142],"LiDARs,":[24],"coined":[25],"PoseMap.":[26],"essence,":[28],"extract":[30],"distinctive":[31],"features":[32,62,99],"from":[33],"range":[34],"measurements":[35],"and":[36,60,63,115,125,144,152,163,189],"bundle":[37],"these":[38],"into":[39],"local":[40,83,127],"views":[41],"along":[42],"with":[43,140],"observation":[44],"poses.":[45],"The":[46,68],"sensor's":[47],"trajectory":[48],"then":[50],"estimated":[51],"sliding":[54],"window":[55],"fashion":[56],"by":[57,79,123],"matching":[58],"current":[59],"old":[61,77],"minimizing":[64],"the":[65,81,107,118,157],"distances":[66],"in-between.":[67],"map":[69,119],"representation":[70],"facilitates":[71],"finding":[72],"suitable":[74,96],"set":[75,97],"of":[76,98,106,117,181,187],"features,":[78],"selecting":[80],"closest":[82],"map(s)":[84],"matching.":[86],"Similarly":[87],"to":[88,154,175],"visibility":[90],"analysis,":[91],"procedure":[93],"provides":[94],"but":[102],"at":[103,120,149],"fraction":[105],"computational":[108],"cost.":[109],"PoseMap":[110,166],"also":[111],"allows":[112],"updates":[114],"extensions":[116],"any":[121],"time":[122],"replacing":[124],"adding":[126],"maps":[128],"when":[129],"necessary.":[130],"We":[131],"evaluate":[132],"our":[133],"two":[136],"platforms":[137],"both":[138],"equipped":[139],"LiDAR":[143],"an":[145,170],"IMU,":[146],"demonstrating":[147],"8":[150],"Hz":[151],"robustness":[153],"changes":[155],"environment":[158],"such":[159],"as":[160],"moving":[161],"vehicles":[162],"changing":[164],"vegetation.":[165],"was":[167],"implemented":[168],"on":[169],"autonomous":[171],"vehicle":[172],"allowing":[173],"it":[174],"drive":[176],"autonomously":[177],"over":[178],"period":[180],"18":[182],"months":[183],"through":[184],"mix":[186],"industrial":[188],"unstructured":[190],"off-road":[191],"environments,":[192],"covering":[193],"more":[194],"than":[195],"100":[196],"kms":[197],"without":[198],"single":[200],"failure.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
