{"id":"https://openalex.org/W3133461340","doi":"https://doi.org/10.1109/iros45743.2020.9341003","title":"Monocular Localization in HD Maps by Combining Semantic Segmentation and Distance Transform","display_name":"Monocular Localization in HD Maps by Combining Semantic Segmentation and Distance Transform","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3133461340","doi":"https://doi.org/10.1109/iros45743.2020.9341003","mag":"3133461340"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341003","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":"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/A5020982793","display_name":"Jan-Hendrik Pauls","orcid":"https://orcid.org/0000-0003-2048-392X"},"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":"Jan-Hendrik Pauls","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","Karlsruhe Institute of Technology (KIT),Institute of Measurement and Control Systems,Karlsruhe,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT),Institute of Measurement and Control Systems,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076423835","display_name":"K\u00fcrsat Petek","orcid":null},"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":"Kursat Petek","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","Karlsruhe Institute of Technology (KIT),Institute of Measurement and Control Systems,Karlsruhe,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT),Institute of Measurement and Control Systems,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","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":false,"raw_author_name":"Fabian Poggenhans","raw_affiliation_strings":["Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany","FZI Research Center for Information Technology,Intelligent Systems and Production Engineering,Karlsruhe,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"FZI Research Center for Information Technology,Intelligent Systems and Production Engineering,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"]},{"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":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Intelligent Systems and Production Engineering, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.1048,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.99182238,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4595","last_page":"4601"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980000257492065,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8069632053375244},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.781977653503418},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.7243366241455078},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6654126644134521},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5603712797164917},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5261114239692688},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5049954056739807},{"id":"https://openalex.org/keywords/cut","display_name":"Cut","score":0.45383337140083313},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.4481823742389679},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4094638228416443},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3112260699272156},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21154183149337769}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8069632053375244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.781977653503418},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7243366241455078},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6654126644134521},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5603712797164917},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5261114239692688},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5049954056739807},{"id":"https://openalex.org/C5134670","wikidata":"https://www.wikidata.org/wiki/Q1626444","display_name":"Cut","level":4,"score":0.45383337140083313},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.4481823742389679},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4094638228416443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3112260699272156},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21154183149337769},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341003","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1520813427","https://openalex.org/W1595095702","https://openalex.org/W1923361146","https://openalex.org/W1970329928","https://openalex.org/W2060061906","https://openalex.org/W2089024363","https://openalex.org/W2340897893","https://openalex.org/W2563294506","https://openalex.org/W2740156952","https://openalex.org/W2740726895","https://openalex.org/W2768573964","https://openalex.org/W2781228439","https://openalex.org/W2887751724","https://openalex.org/W2905509562","https://openalex.org/W2905511230","https://openalex.org/W2909449108","https://openalex.org/W2909664640","https://openalex.org/W2938672559","https://openalex.org/W2963091090","https://openalex.org/W2963350373","https://openalex.org/W2966975099","https://openalex.org/W2966985372","https://openalex.org/W2967222368","https://openalex.org/W2970971712","https://openalex.org/W2981566147","https://openalex.org/W3003178336","https://openalex.org/W3011653528","https://openalex.org/W3098467253","https://openalex.org/W3100634571","https://openalex.org/W3210232381","https://openalex.org/W6631209646","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W2980723633","https://openalex.org/W2808023763","https://openalex.org/W2109407305","https://openalex.org/W2032319136","https://openalex.org/W2897997384","https://openalex.org/W2088651901","https://openalex.org/W1544828638","https://openalex.org/W2086619084","https://openalex.org/W2000036183","https://openalex.org/W2049858394"],"abstract_inverted_index":{"Easy,":[0],"yet":[1,49],"robust":[2],"long-term":[3],"localization":[4,140],"is":[5,79],"still":[6],"an":[7],"open":[8],"topic":[9],"in":[10,37,131],"research.":[11],"Existing":[12],"approaches":[13],"require":[14],"either":[15],"dense":[16],"maps,":[17],"expensive":[18],"sensors,":[19],"specialized":[20],"map":[21,40],"features":[22],"or":[23],"proprietary":[24],"detectors.We":[25],"propose":[26],"using":[27],"semantic":[28],"segmentation":[29],"on":[30,86],"a":[31,38,94,99,135],"monocular":[32,57],"camera":[33],"to":[34,163],"localize":[35],"directly":[36],"HD":[39,51],"as":[41,102,149],"used":[42],"for":[43,98,104,151],"automated":[44,152],"driving.":[45],"This":[46,90],"combines":[47,117],"lightweight,":[48],"powerful":[50],"maps":[52],"with":[53,121],"the":[54,60,157],"simplicity":[55],"of":[56,62,156],"vision":[58],"and":[59,74,126,160],"flexibility":[61],"neural":[63],"networks.The":[64],"major":[65],"challenges":[66],"arising":[67],"from":[68],"this":[69],"combination":[70],"are":[71],"data":[72],"association":[73,110],"robustness":[75],"against":[76,134],"misdetections.":[77],"Association":[78],"solved":[80],"efficiently":[81],"by":[82,111],"applying":[83],"distance":[84],"transform":[85],"binary":[87],"per-class":[88],"images.":[89],"provides":[91],"not":[92],"only":[93],"fast":[95],"lookup":[96],"table":[97],"smooth":[100],"gradient":[101],"needed":[103],"pose-graph":[105],"optimization,":[106],"but":[107],"also":[108],"dynamic":[109],"default.A":[112],"sliding-window":[113],"pose":[114],"graph":[115],"optimization":[116],"single":[118],"image":[119],"detections":[120],"vehicle":[122],"odometry,":[123],"smoothing":[124],"results":[125],"helping":[127],"overcome":[128],"even":[129],"misclassifications":[130],"consecutive":[132],"frames.Evaluation":[133],"highly":[136],"accurate":[137],"6D":[138],"visual":[139],"shows":[141],"that":[142],"our":[143],"approach":[144],"can":[145],"achieve":[146],"accuracy":[147],"levels":[148],"required":[150],"driving,":[153],"being":[154],"one":[155],"most":[158],"lightweight":[159],"flexible":[161],"methods":[162],"do":[164],"so.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}