{"id":"https://openalex.org/W4389666297","doi":"https://doi.org/10.1109/iros55552.2023.10342046","title":"UnLoc: A Universal Localization Method for Autonomous Vehicles using LiDAR, Radar and/or Camera Input","display_name":"UnLoc: A Universal Localization Method for Autonomous Vehicles using LiDAR, Radar and/or Camera Input","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666297","doi":"https://doi.org/10.1109/iros55552.2023.10342046"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342046","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342046","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5069966470","display_name":"Muhammad Ibrahim","orcid":"https://orcid.org/0000-0002-1556-8702"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Muhammad Ibrahim","raw_affiliation_strings":["The University of Western,Department of Computer Science,Australia","Department of Computer Science, The University of Western, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Western,Department of Computer Science,Australia","institution_ids":["https://openalex.org/I177877127"]},{"raw_affiliation_string":"Department of Computer Science, The University of Western, Australia","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069697936","display_name":"Naveed Akhtar","orcid":"https://orcid.org/0000-0003-3406-673X"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Naveed Akhtar","raw_affiliation_strings":["The University of Western,Department of Computer Science,Australia","Department of Computer Science, The University of Western, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Western,Department of Computer Science,Australia","institution_ids":["https://openalex.org/I177877127"]},{"raw_affiliation_string":"Department of Computer Science, The University of Western, Australia","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084633048","display_name":"Saeed Anwar","orcid":"https://orcid.org/0000-0002-0692-8411"},"institutions":[{"id":"https://openalex.org/I134085113","display_name":"King Fahd University of Petroleum and Minerals","ror":"https://ror.org/03yez3163","country_code":"SA","type":"education","lineage":["https://openalex.org/I134085113"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Saeed Anwar","raw_affiliation_strings":["King Fahad University of Petroleum and Minerals (KFUPM),Information and Computer Science,Dhahran,KSA","Information and Computer Science, King Fahad University of Petroleum and Minerals (KFUPM), Dhahran, KSA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King Fahad University of Petroleum and Minerals (KFUPM),Information and Computer Science,Dhahran,KSA","institution_ids":["https://openalex.org/I134085113"]},{"raw_affiliation_string":"Information and Computer Science, King Fahad University of Petroleum and Minerals (KFUPM), Dhahran, KSA","institution_ids":["https://openalex.org/I134085113"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089986388","display_name":"Ajmal Mian","orcid":"https://orcid.org/0000-0002-5206-3842"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ajmal Mian","raw_affiliation_strings":["The University of Western,Department of Computer Science,Australia","Department of Computer Science, The University of Western, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Western,Department of Computer Science,Australia","institution_ids":["https://openalex.org/I177877127"]},{"raw_affiliation_string":"Department of Computer Science, The University of Western, Australia","institution_ids":["https://openalex.org/I177877127"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5187","last_page":"5194"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"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":0.9977999925613403,"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/computer-science","display_name":"Computer science","score":0.7754278182983398},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7579836845397949},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.653117835521698},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.6089944839477539},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5551307201385498},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5476388931274414},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.5352540612220764},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.48605042695999146},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.4780859649181366},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4541272222995758},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34163162112236023},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.24213984608650208},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07928124070167542}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7754278182983398},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7579836845397949},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.653117835521698},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.6089944839477539},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5551307201385498},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5476388931274414},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.5352540612220764},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.48605042695999146},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.4780859649181366},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4541272222995758},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34163162112236023},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.24213984608650208},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07928124070167542},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros55552.2023.10342046","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342046","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/69dcde6c-a7b6-4169-85eb-40b959b13c11","is_oa":false,"landing_page_url":"https://admin.research-repository.uwa.edu.au/en/publications/69dcde6c-a7b6-4169-85eb-40b959b13c11","pdf_url":null,"source":{"id":"https://openalex.org/S4306402492","display_name":"UWA Profiles and Research Repository (UWA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177877127","host_organization_name":"The University of Western Australia","host_organization_lineage":["https://openalex.org/I177877127"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Ibrahim, M, Akhtar, N, Anwar, S & Mian, A 2023, UnLoc : A Universal Localization Method for Autonomous Vehicles using LiDAR, Radar and/or Camera Input. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023. IEEE International Conference on Intelligent Robots and Systems, IEEE, Institute of Electrical and Electronics Engineers, pp. 5187-5194. https://doi.org/10.1109/IROS55552.2023.10342046","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8788601095","display_name":null,"funder_award_id":"FT210100268","funder_id":"https://openalex.org/F4320309938","funder_display_name":"Centre of Excellence for Environmental Decisions, Australian Research Council"}],"funders":[{"id":"https://openalex.org/F4320309938","display_name":"Centre of Excellence for Environmental Decisions, Australian Research Council","ror":"https://ror.org/01k8nkc73"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W2012502415","https://openalex.org/W2021063678","https://openalex.org/W2101234009","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2558027072","https://openalex.org/W2584731199","https://openalex.org/W2770866044","https://openalex.org/W2795645133","https://openalex.org/W2798278946","https://openalex.org/W2890714858","https://openalex.org/W2892865870","https://openalex.org/W2955544543","https://openalex.org/W2963024893","https://openalex.org/W2963708168","https://openalex.org/W2964175348","https://openalex.org/W2980857376","https://openalex.org/W2983230029","https://openalex.org/W2985516791","https://openalex.org/W2986382673","https://openalex.org/W2997032998","https://openalex.org/W3031624864","https://openalex.org/W3037784242","https://openalex.org/W3089835902","https://openalex.org/W3090139470","https://openalex.org/W3103406720","https://openalex.org/W3120688681","https://openalex.org/W3130465612","https://openalex.org/W3167612819","https://openalex.org/W3177330511","https://openalex.org/W3194973398","https://openalex.org/W3208248739","https://openalex.org/W3212680124","https://openalex.org/W4200216640","https://openalex.org/W4249866455","https://openalex.org/W4312274649","https://openalex.org/W4321022054","https://openalex.org/W4383108930","https://openalex.org/W4385245566","https://openalex.org/W6675354045","https://openalex.org/W6739901393","https://openalex.org/W6767711165","https://openalex.org/W6779809370","https://openalex.org/W6785543708"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W2956374172","https://openalex.org/W1964041166","https://openalex.org/W4313855562","https://openalex.org/W2091422131","https://openalex.org/W2742737769"],"abstract_inverted_index":{"Localization":[0],"is":[1,148],"a":[2,15,54,119,133],"fundamental":[3],"task":[4],"in":[5,46,65],"robotics":[6],"for":[7,60,79,125],"autonomous":[8],"navigation.":[9],"Existing":[10],"localization":[11,61,80],"methods":[12],"rely":[13],"on":[14,42,81,151],"single":[16],"input":[17,64,91,143],"data":[18,48],"modality":[19,136],"or":[20,89],"train":[21],"several":[22],"computational":[23,33],"models":[24],"to":[25,31,40,96,110,139],"process":[26,111],"different":[27],"modalities.":[28,130],"This":[29,50],"leads":[30],"stringent":[32],"requirements":[34],"and":[35,76,104,114,128,156,170],"sub-optimal":[36],"results":[37,160],"that":[38],"fail":[39],"capitalize":[41],"the":[43,108,126,142,162],"complementary":[44],"information":[45],"other":[47],"streams.":[49],"paper":[51],"proposes":[52],"UnLoc,":[53],"novel":[55],"unified":[56],"neural":[57],"modeling":[58],"approach":[59],"with":[62,87,118],"multi-sensor":[63],"all":[66],"weather":[67],"conditions.":[68],"Our":[69,146],"multi-stream":[70],"network":[71],"can":[72,85],"handle":[73],"LiDAR,":[74],"Camera":[75],"RADAR":[77],"inputs":[78],"demand,":[82],"i.e.,":[83],"it":[84,94],"work":[86],"one":[88],"more":[90],"sensors,":[92],"making":[93],"robust":[95],"sensor":[97,144],"failure.":[98],"UnLoc":[99],"uses":[100],"3D":[101],"sparse":[102],"convolutions":[103],"cylindrical":[105],"partitioning":[106],"of":[107,164],"space":[109],"LiDAR":[112],"frames":[113],"implements":[115],"ResNet":[116],"blocks":[117],"slot":[120],"attention-based":[121],"feature":[122],"filtering":[123],"module":[124],"Radar":[127,153],"image":[129],"We":[131],"introduce":[132],"unique":[134],"learnable":[135],"encoding":[137],"scheme":[138],"distinguish":[140],"between":[141],"data.":[145],"method":[147],"extensively":[149],"evaluated":[150],"Oxford":[152],"RobotCar,":[154],"ApolloSouthBay":[155],"Perth-WA":[157],"datasets.":[158],"The":[159,167],"ascertain":[161],"efficacy":[163],"our":[165],"technique.":[166],"dataset,":[168],"results,":[169],"codes":[171],"are":[172],"available":[173],"at":[174],"https://github.com/IbrahimUWA/UnLoc":[175]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}