{"id":"https://openalex.org/W4405786356","doi":"https://doi.org/10.1109/iros58592.2024.10801497","title":"LiDAR-based HD Map Localization using Semantic Generalized ICP with Road Marking Detection","display_name":"LiDAR-based HD Map Localization using Semantic Generalized ICP with Road Marking Detection","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786356","doi":"https://doi.org/10.1109/iros58592.2024.10801497"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5066472435","display_name":"Yansong Gong","orcid":"https://orcid.org/0000-0002-5509-6914"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yansong Gong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003117164","display_name":"Xinglian Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xinglian Zhang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100984202","display_name":"Jingyi Feng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jingyi Feng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053656744","display_name":"Xiao He","orcid":"https://orcid.org/0000-0002-5188-4382"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao He","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100456014","display_name":"Dan Zhang","orcid":"https://orcid.org/0000-0002-1183-2166"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dan Zhang","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066472435"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.7807,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93073766,"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":"3379","last_page":"3386"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9941999912261963,"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":0.9941999912261963,"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9810000061988831,"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/lidar","display_name":"Lidar","score":0.8662244081497192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5844545960426331},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48861271142959595},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.45711779594421387},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38473042845726013},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17548522353172302}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8662244081497192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5844545960426331},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48861271142959595},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.45711779594421387},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38473042845726013},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17548522353172302}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2009345891","https://openalex.org/W2058155422","https://openalex.org/W2116484457","https://openalex.org/W2133026742","https://openalex.org/W2136756158","https://openalex.org/W2560566301","https://openalex.org/W2737444374","https://openalex.org/W2895338961","https://openalex.org/W2896129006","https://openalex.org/W2903637353","https://openalex.org/W2909761845","https://openalex.org/W2962786971","https://openalex.org/W2970378130","https://openalex.org/W3035049382","https://openalex.org/W3035643836","https://openalex.org/W3093972168","https://openalex.org/W3118176439","https://openalex.org/W3206741876","https://openalex.org/W4225977648","https://openalex.org/W4292829054","https://openalex.org/W4308068964","https://openalex.org/W4312229467"],"related_works":["https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367"],"abstract_inverted_index":{"In":[0,15],"GPS-denied":[1],"scenarios,":[2,164],"a":[3,18,32,39,70,83,88,113,149],"robust":[4],"environmental":[5],"perception":[6],"and":[7,29,96,147,168],"localization":[8,21,151],"system":[9,22],"becomes":[10],"crucial":[11],"for":[12],"autonomous":[13],"driving.":[14],"this":[16],"paper,":[17],"LiDAR-based":[19],"online":[20],"is":[23,44,55,75,94,101,121],"developed,":[24],"incorporating":[25],"road":[26,40,64,107,110,124],"marking":[27,41,111],"detection":[28,42],"registration":[30],"on":[31,153],"high-definition":[33],"(HD)":[34],"map.":[35],"Within":[36],"our":[37,171],"system,":[38],"approach":[43],"proposed":[45],"with":[46,63],"realtime":[47],"performance,":[48],"in":[49,131,162],"which":[50],"an":[51,97],"adaptive":[52],"segmentation":[53,99],"technique":[54],"first":[56],"introduced":[57],"to":[58,103],"isolate":[59],"high-reflectance":[60],"points":[61],"correlated":[62],"markings,":[65],"enhancing":[66],"real-time":[67],"efficiency.":[68],"Then,":[69],"spatio-temporal":[71],"probabilistic":[72],"local":[73],"map":[74],"formed":[76],"by":[77],"aggregating":[78],"historical":[79],"LiDAR":[80,89],"scans,":[81],"providing":[82],"dense":[84],"point":[85,118],"cloud.":[86],"Finally,":[87],"bird\u2019s-eye":[90],"view":[91],"(LiBEV)":[92],"image":[93],"generated,":[95],"instance":[98],"network":[100],"applied":[102],"accurately":[104],"label":[105],"the":[106,135,140,144,166],"markings.":[108],"For":[109],"registration,":[112],"semantic":[114],"generalized":[115],"iterative":[116],"closest":[117],"(SG-ICP)":[119],"algorithm":[120],"designed.":[122],"Linear":[123],"markings":[125],"are":[126,160],"modeled":[127],"as":[128],"1-manifolds":[129],"embedded":[130],"2D":[132],"space,":[133],"mitigating":[134],"influence":[136],"of":[137,170],"constraints":[138],"along":[139],"linear":[141],"direction,":[142],"addressing":[143],"under-constrained":[145],"problem":[146],"achieving":[148],"lower":[150],"errors":[152],"HD":[154],"maps":[155],"than":[156],"ICP.":[157],"Extensive":[158],"experiments":[159],"conducted":[161],"real-world":[163],"demonstrating":[165],"effectiveness":[167],"robustness":[169],"system.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}