{"id":"https://openalex.org/W4312942802","doi":"https://doi.org/10.1109/iros47612.2022.9981308","title":"One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation","display_name":"One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312942802","doi":"https://doi.org/10.1109/iros47612.2022.9981308"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981308","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 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/A5083673892","display_name":"Sha Lu","orcid":"https://orcid.org/0000-0002-5434-893X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sha Lu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080268597","display_name":"Xuecheng Xu","orcid":"https://orcid.org/0000-0002-0762-6714"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuecheng Xu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024862094","display_name":"Huan Yin","orcid":"https://orcid.org/0000-0002-0872-8202"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Huan Yin","raw_affiliation_strings":["Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay,Hong Kong SAR","Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay,Hong Kong SAR","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong SAR","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101797801","display_name":"Zexi Chen","orcid":"https://orcid.org/0000-0002-9782-6022"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zexi Chen","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University,State Key Laboratory of Industrial Control and Technology,Hangzhou,China,310058","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5083673892"],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":6.3978,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.98385119,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2778","last_page":"2785"},"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":0.9988999962806702,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9986000061035156,"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":0.7151551842689514},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.7109062671661377},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7029121518135071},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6956517100334167},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5858350992202759},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5692145824432373},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5379811525344849},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5360850095748901},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5284355282783508},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4601178467273712},{"id":"https://openalex.org/keywords/object-orientation","display_name":"Object-orientation","score":0.421161413192749},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.4111633002758026},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22741910815238953},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12572398781776428},{"id":"https://openalex.org/keywords/object-oriented-programming","display_name":"Object-oriented programming","score":0.08951997756958008}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7151551842689514},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.7109062671661377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7029121518135071},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6956517100334167},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5858350992202759},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5692145824432373},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5379811525344849},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5360850095748901},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5284355282783508},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4601178467273712},{"id":"https://openalex.org/C120968358","wikidata":"https://www.wikidata.org/wiki/Q2011845","display_name":"Object-orientation","level":3,"score":0.421161413192749},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4111633002758026},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22741910815238953},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12572398781776428},{"id":"https://openalex.org/C73752529","wikidata":"https://www.wikidata.org/wiki/Q79872","display_name":"Object-oriented programming","level":2,"score":0.08951997756958008},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981308","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-124519","is_oa":false,"landing_page_url":"https://repository.hkust.edu.hk/ir/Record/1783.1-124519","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1972485825","https://openalex.org/W2041469568","https://openalex.org/W2045162826","https://openalex.org/W2098764590","https://openalex.org/W2099606917","https://openalex.org/W2131821152","https://openalex.org/W2213518912","https://openalex.org/W2284029970","https://openalex.org/W2335829695","https://openalex.org/W2565998037","https://openalex.org/W2876324142","https://openalex.org/W2910489334","https://openalex.org/W2914921243","https://openalex.org/W2951019013","https://openalex.org/W2953205834","https://openalex.org/W2957348723","https://openalex.org/W2963708168","https://openalex.org/W2994881679","https://openalex.org/W3039808820","https://openalex.org/W3041380886","https://openalex.org/W3090139470","https://openalex.org/W3091337047","https://openalex.org/W3110102971","https://openalex.org/W3130266661","https://openalex.org/W3211389689","https://openalex.org/W4226213012","https://openalex.org/W4236965008","https://openalex.org/W4295888806","https://openalex.org/W6750913195","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W2186864281","https://openalex.org/W4255427455","https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W1966025497","https://openalex.org/W68941528","https://openalex.org/W4206451355","https://openalex.org/W8322802","https://openalex.org/W314331466","https://openalex.org/W2894986065"],"abstract_inverted_index":{"LiDAR-based":[0],"global":[1,53,78,138,149],"localization":[2,54],"is":[3],"a":[4,35,45,51,63,72,82,98,137,163,168],"fundamental":[5],"problem":[6],"for":[7,90,109,141],"mobile":[8],"robots.":[9],"It":[10],"consists":[11],"of":[12,37,44,133,152],"two":[13],"stages,":[14],"place":[15,65,110,170],"recognition":[16],"and":[17,25,34,84,102,118,123,144,161],"pose":[18,59],"estimation,":[19,146],"which":[20,80],"yields":[21],"the":[22,29,42,58,95,131,153,159],"current":[23,30],"orientation":[24,104,117,143],"translation,":[26],"using":[27],"only":[28],"scan":[31],"as":[32],"query":[33,122],"database":[36],"map":[38,124],"scans.":[39],"Inspired":[40],"by":[41],"definition":[43],"recognized":[46],"place,":[47],"we":[48,70,128],"consider":[49],"that":[50],"good":[52],"solution":[55],"should":[56],"keep":[57],"estimation":[60],"accuracy":[61],"with":[62],"lower":[64,169],"density.":[66,171],"Following":[67],"this":[68],"idea,":[69],"propose":[71,136],"novel":[73],"framework":[74,157],"towards":[75],"sparse":[76],"place-based":[77],"localization,":[79],"utilizes":[81],"unified":[83],"learning-free":[85],"representation,":[86],"Radon":[87],"sinogram":[88],"(RING),":[89],"all":[91],"sub-tasks.":[92],"Based":[93],"on":[94],"theoretical":[96],"derivation,":[97],"translation":[99,120,145],"invariant":[100,105],"descriptor":[101],"an":[103],"metric":[106],"are":[107],"proposed":[108,154],"recognition,":[111],"achieving":[112],"certifiable":[113],"robustness":[114],"against":[115],"arbitrary":[116],"large":[119],"between":[121],"scan.":[125],"In":[126],"addition,":[127],"also":[129],"utilize":[130],"property":[132],"RING":[134,155],"to":[135],"convergent":[139],"solver":[140],"both":[142],"arriving":[147],"at":[148],"localization.":[150],"Evaluation":[151],"based":[156],"validates":[158],"feasibility":[160],"demonstrates":[162],"superior":[164],"performance":[165],"even":[166],"under":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":4}],"updated_date":"2026-01-15T23:16:33.117629","created_date":"2025-10-10T00:00:00"}
