{"id":"https://openalex.org/W2909449108","doi":"https://doi.org/10.1109/iros.2018.8594414","title":"Precise Localization in High-Definition Road Maps for Urban Regions","display_name":"Precise Localization in High-Definition Road Maps for Urban Regions","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909449108","doi":"https://doi.org/10.1109/iros.2018.8594414","mag":"2909449108"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594414","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":"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/A5035629040","display_name":"Fabian Poggenhans","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Fabian Poggenhans","raw_affiliation_strings":["FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065706887","display_name":"Niels Ole Salscheider","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Niels Ole Salscheider","raw_affiliation_strings":["FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5035629040"],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":11.5334,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.98460038,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2167","last_page":"2174"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9991000294685364,"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/gnss-applications","display_name":"GNSS applications","score":0.7769412994384766},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7274153232574463},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7223858833312988},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6612932085990906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5973289608955383},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5941454172134399},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5875569581985474},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5448716282844543},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.463850736618042},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4533582925796509},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.42356210947036743},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4221019148826599},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.41189494729042053},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.35147300362586975},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23306804895401},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19399073719978333},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18453949689865112}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7769412994384766},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7274153232574463},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7223858833312988},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6612932085990906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5973289608955383},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5941454172134399},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5875569581985474},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5448716282844543},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.463850736618042},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4533582925796509},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.42356210947036743},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4221019148826599},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.41189494729042053},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.35147300362586975},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23306804895401},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19399073719978333},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18453949689865112},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"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/iros.2018.8594414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594414","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":[{"id":"https://metadata.un.org/sdg/11","score":0.8199999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1578660046","https://openalex.org/W1595095702","https://openalex.org/W1951690882","https://openalex.org/W1960560098","https://openalex.org/W1969553439","https://openalex.org/W1970329928","https://openalex.org/W2001875386","https://openalex.org/W2020934227","https://openalex.org/W2021063678","https://openalex.org/W2032924574","https://openalex.org/W2060061906","https://openalex.org/W2095905764","https://openalex.org/W2135081410","https://openalex.org/W2145023731","https://openalex.org/W2148919666","https://openalex.org/W2158151759","https://openalex.org/W2284520540","https://openalex.org/W2340897893","https://openalex.org/W2508311245","https://openalex.org/W2558580397","https://openalex.org/W2563188635","https://openalex.org/W2741562645","https://openalex.org/W2763476526","https://openalex.org/W2764313696","https://openalex.org/W2952147788","https://openalex.org/W6730411969"],"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/W2125308530","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2034836143","https://openalex.org/W2412578866"],"abstract_inverted_index":{"The":[0,150],"future":[1],"of":[2,21,168,179],"automated":[3,163],"driving":[4],"in":[5,24,69,86,97,170],"urban":[6,140],"areas":[7],"will":[8],"most":[9],"probably":[10],"rely":[11],"on":[12,132],"highly":[13,162],"accurate":[14],"road":[15,71,77,172],"maps.":[16],"However,":[17],"the":[18,98,180],"necessary":[19],"precision":[20],"a":[22,57,83,117,122,128,133,175],"localization":[23,59],"such":[25,73],"maps":[26],"has":[27],"so":[28],"far":[29],"only":[30],"been":[31],"reached":[32],"using":[33,107,116],"extra,":[34],"sensor":[35,118],"specific":[36],"feature":[37],"layers":[38],"for":[39,161],"localization.":[40],"In":[41],"this":[42,154],"paper":[43],"we":[44,81],"want":[45],"to":[46,52,103,158],"show":[47,152],"that":[48,65,120,153],"it":[49],"is":[50,156,176],"possible":[51],"achieve":[53],"sufficient":[54],"accuracy":[55,167],"without":[56],"separate":[58],"layer.":[60],"Instead,":[61],"elements":[62,96],"are":[63,66,93],"used":[64,160],"already":[67],"contained":[68],"high-resolution":[70],"maps,":[72],"as":[74],"markings":[75],"and":[76,100,127,142,174],"borders.":[78],"For":[79],"this,":[80],"introduce":[82],"modular":[84],"approach":[85,115,155],"which":[87],"detections":[88],"from":[89],"different":[90],"detection":[91],"algorithms":[92],"associated":[94],"with":[95],"map":[99],"then":[101],"fused":[102],"an":[104,108,166],"absolute":[105],"pose":[106],"Unscented":[109],"Kalman":[110],"Filter.":[111],"We":[112],"evaluate":[113],"our":[114],"setup":[119],"employs":[121],"stereo":[123],"camera,":[124],"vehicle":[125],"odometry":[126],"low-cost":[129],"GNSS":[130],"module":[131],"5km":[134],"test":[135],"route":[136],"covering":[137],"both":[138],"narrow":[139],"roads":[141,145],"multi-lane":[143],"main":[144],"under":[146],"varying":[147],"weather":[148],"conditions.":[149],"results":[151],"capable":[157],"be":[159],"driving,":[164],"showing":[165],"0.08m":[169],"typical":[171],"scenarios":[173],"available":[177],"98%":[178],"time.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}