{"id":"https://openalex.org/W4416749804","doi":"https://doi.org/10.1109/iros60139.2025.11246014","title":"Fusion Scene Context: Robust and Efficient LiDAR Place Recognition Across Season","display_name":"Fusion Scene Context: Robust and Efficient LiDAR Place Recognition Across Season","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749804","doi":"https://doi.org/10.1109/iros60139.2025.11246014"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5029562086","display_name":"Fengkui Cao","orcid":"https://orcid.org/0000-0002-5869-7352"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fengkui Cao","raw_affiliation_strings":["Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation,Shenyang,China,110016"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation,Shenyang,China,110016","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108653587","display_name":"Yanmin Jia","orcid":"https://orcid.org/0009-0008-4922-0780"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanpeng Jia","raw_affiliation_strings":["Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation,Shenyang,China,110016"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation,Shenyang,China,110016","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115695222","display_name":"Ting Wang","orcid":"https://orcid.org/0009-0003-1256-0750"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ting Wang","raw_affiliation_strings":["Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation,Shenyang,China,110016"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation,Shenyang,China,110016","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107772128","display_name":"Hesheng Wang","orcid":"https://orcid.org/0000-0002-9959-1634"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hesheng Wang","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Electronic Information and Electrical Engineering,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Electronic Information and Electrical Engineering,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032262344","display_name":"Xieyuanli Chen","orcid":"https://orcid.org/0000-0003-0955-6681"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xieyuanli Chen","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5029562086"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43981075,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3474","last_page":"3481"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9567999839782715,"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":0.9567999839782715,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.017899999395012856,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.002899999963119626,"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":0.7307999730110168},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6664000153541565},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.48750001192092896},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.47450000047683716},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.4693000018596649},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4690000116825104},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4616999924182892},{"id":"https://openalex.org/keywords/image-fusion","display_name":"Image fusion","score":0.43220001459121704},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41499999165534973}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7307999730110168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7109000086784363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6730999946594238},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6664000153541565},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6403999924659729},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.48750001192092896},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.47450000047683716},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.4693000018596649},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4690000116825104},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4616999924182892},{"id":"https://openalex.org/C69744172","wikidata":"https://www.wikidata.org/wiki/Q860822","display_name":"Image fusion","level":3,"score":0.43220001459121704},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41499999165534973},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.39399999380111694},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.39250001311302185},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3921000063419342},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.38960000872612},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.37380000948905945},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.33559998869895935},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.32600000500679016},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.3240000009536743},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.31619998812675476},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.29989999532699585},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2994999885559082},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.29499998688697815},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2815000116825104},{"id":"https://openalex.org/C2776429412","wikidata":"https://www.wikidata.org/wiki/Q4688011","display_name":"Aerial image","level":3,"score":0.2741999924182892},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.2581999897956848},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W2335829695","https://openalex.org/W2558027072","https://openalex.org/W2560609797","https://openalex.org/W2565998037","https://openalex.org/W2910489334","https://openalex.org/W2938170127","https://openalex.org/W2957348723","https://openalex.org/W2963708168","https://openalex.org/W2980535048","https://openalex.org/W2986519585","https://openalex.org/W2994881679","https://openalex.org/W3011465262","https://openalex.org/W3039808820","https://openalex.org/W3097606838","https://openalex.org/W3120082156","https://openalex.org/W3126857668","https://openalex.org/W3130266661","https://openalex.org/W3130321534","https://openalex.org/W3130609318","https://openalex.org/W3131660994","https://openalex.org/W3132252078","https://openalex.org/W3168256178","https://openalex.org/W3177271542","https://openalex.org/W3188123215","https://openalex.org/W3206352917","https://openalex.org/W3206411252","https://openalex.org/W3207344666","https://openalex.org/W3216379004","https://openalex.org/W4226275201","https://openalex.org/W4285147600","https://openalex.org/W4309486142","https://openalex.org/W4311414007","https://openalex.org/W4312584283","https://openalex.org/W4312942802","https://openalex.org/W4313148639","https://openalex.org/W4383097417","https://openalex.org/W4387415326","https://openalex.org/W4400487989"],"related_works":[],"abstract_inverted_index":{"Place":[0],"recognition":[1,14],"is":[2,60],"an":[3],"important":[4,64],"component":[5],"for":[6,162],"autonomous":[7],"robot":[8,165],"navigation.":[9],"Many":[10],"existing":[11],"LiDAR-based":[12],"place":[13],"methods":[15],"encode":[16],"the":[17,35,78,85,95,121,132],"structural":[18,65],"information":[19,66,81],"of":[20,30,45,56,87,99],"3D":[21],"LiDAR":[22,57,143],"data":[23],"into":[24,102],"2D":[25],"image":[26,54],"representations.":[27],"However,":[28],"most":[29],"these":[31],"intermediates":[32],"only":[33],"exploit":[34],"projection":[36],"in":[37],"a":[38,42,51,156],"single":[39,157],"view,":[40],"ignoring":[41],"great":[43],"amount":[44],"useful":[46],"information.":[47],"In":[48],"this":[49],"paper,":[50],"compact":[52],"fusion-view":[53,75],"representation":[55],"point":[58],"cloud":[59],"proposed":[61,71,133,150],"to":[62,110],"extract":[63],"from":[67],"different":[68,142],"views.":[69],"Our":[70],"method":[72,134,151],"generates":[73],"such":[74],"images":[76],"using":[77],"corresponding":[79],"geometric":[80],"among":[82],"points":[83],"highlighting":[84],"edges":[86],"objects.":[88],"It":[89],"then":[90],"extracts":[91],"texture":[92],"features":[93,107],"encoding":[94],"shapes":[96],"and":[97,127,135,145],"layouts":[98],"scene":[100],"elements":[101],"global":[103],"descriptors,":[104],"where":[105],"regional":[106],"are":[108],"designed":[109],"adapt":[111],"local":[112],"discrepancies":[113],"caused":[114],"by":[115],"seasonal":[116],"changes.":[117],"Extensive":[118],"experiments":[119],"on":[120],"Oxford":[122],"RobotCar,":[123],"NCLT,":[124],"UTBM":[125],"datasets":[126],"our":[128,149],"cross-season":[129],"dataset":[130],"validate":[131],"demonstrate":[136],"its":[137],"superior":[138],"generalization":[139],"performance":[140],"under":[141],"sensors":[144],"season":[146],"shifts.":[147],"Moreover,":[148],"can":[152],"operate":[153],"online":[154],"with":[155],"CPU,":[158],"making":[159],"it":[160],"suitable":[161],"resource-limited":[163],"real":[164],"platforms.":[166]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
