{"id":"https://openalex.org/W3129252116","doi":"https://doi.org/10.1109/iros45743.2020.9340769","title":"Learning an Overlap-based Observation Model for 3D LiDAR Localization","display_name":"Learning an Overlap-based Observation Model for 3D LiDAR Localization","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129252116","doi":"https://doi.org/10.1109/iros45743.2020.9340769","mag":"3129252116"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2105.11717","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Xieyuanli Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Xieyuanli Chen","raw_affiliation_strings":["University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Thomas Labe","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Labe","raw_affiliation_strings":["University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lorenzo Nardi","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lorenzo Nardi","raw_affiliation_strings":["University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jens Behley","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Behley","raw_affiliation_strings":["University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":null,"display_name":"Cyrill Stachniss","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":39.0652,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.9948937,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4602","last_page":"4608"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9980999827384949,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9945999979972839,"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/lidar","display_name":"Lidar","score":0.7462000250816345},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5121999979019165},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4702000021934509},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3506999909877777},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3230000138282776},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3095000088214874}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7462000250816345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6492000222206116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6399000287055969},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6345000267028809},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5121999979019165},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4702000021934509},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.39910000562667847},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3506999909877777},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3230000138282776},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3095000088214874},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.30079999566078186},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2736000120639801},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros45743.2020.9340769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2105.11717","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.11717","pdf_url":"https://arxiv.org/pdf/2105.11717","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2105.11717","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.11717","pdf_url":"https://arxiv.org/pdf/2105.11717","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W179122090","https://openalex.org/W1479814506","https://openalex.org/W1577509784","https://openalex.org/W1587957970","https://openalex.org/W1990012555","https://openalex.org/W2021063678","https://openalex.org/W2034207289","https://openalex.org/W2105977269","https://openalex.org/W2130422193","https://openalex.org/W2145060371","https://openalex.org/W2160584648","https://openalex.org/W2213518912","https://openalex.org/W2562542491","https://openalex.org/W2765608241","https://openalex.org/W2794149315","https://openalex.org/W2805521962","https://openalex.org/W2892028890","https://openalex.org/W2908969420","https://openalex.org/W2914921243","https://openalex.org/W2948098371","https://openalex.org/W2951349360","https://openalex.org/W2953205834","https://openalex.org/W2967222368","https://openalex.org/W2981305264","https://openalex.org/W2981566147","https://openalex.org/W2991216808","https://openalex.org/W3003178336","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3039808820","https://openalex.org/W6679875354","https://openalex.org/W6755668676"],"related_works":[],"abstract_inverted_index":{"Localization":[0],"is":[1],"a":[2,29,64,73,85,103,114,117,121],"crucial":[3],"capability":[4],"for":[5,20],"mobile":[6],"robots":[7],"and":[8,50,59,77,116],"autonomous":[9],"cars.":[10],"In":[11],"this":[12,69,94],"paper,":[13],"we":[14],"address":[15],"learning":[16],"an":[17],"observation":[18,33,70],"model":[19,34,46,71],"Monte-Carlo":[21,74],"localization":[22,75,124],"using":[23],"3D":[24,42],"LiDAR":[25,43],"data.":[26],"We":[27,67,109],"propose":[28],"novel,":[30],"neural":[31],"network-based":[32],"that":[35,97],"computes":[36],"the":[37,48,55],"expected":[38],"overlap":[39,49],"of":[40,126],"two":[41],"scans.":[44],"The":[45,90],"predicts":[47],"yaw":[51],"angle":[52],"offset":[53],"between":[54],"current":[56],"sensor":[57],"reading":[58],"virtual":[60],"frames":[61],"generated":[62],"from":[63],"pre-built":[65],"map.":[66],"integrate":[68],"into":[72],"framework":[76],"tested":[78],"it":[79],"on":[80],"urban":[81,107],"datasets":[82],"collected":[83],"with":[84,129],"car":[86],"in":[87,93,105],"different":[88],"seasons.":[89],"experiments":[91],"presented":[92],"paper":[95],"illustrate":[96],"our":[98,127],"method":[99,119,128],"can":[100],"reliably":[101],"localize":[102],"vehicle":[104],"typical":[106],"environments.":[108],"furthermore":[110],"provide":[111],"comparisons":[112],"to":[113],"beam-endpoint":[115],"histogram-based":[118],"indicating":[120],"superior":[122],"global":[123],"performance":[125],"fewer":[130],"particles.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2021-03-01T00:00:00"}
