{"id":"https://openalex.org/W4416749331","doi":"https://doi.org/10.1109/iros60139.2025.11246959","title":"One-shot Global Localization through Semantic Distribution Feature Retrieval and Semantic Topological Histogram Registration","display_name":"One-shot Global Localization through Semantic Distribution Feature Retrieval and Semantic Topological Histogram Registration","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749331","doi":"https://doi.org/10.1109/iros60139.2025.11246959"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246959","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":"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":null,"display_name":"Feixuan Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feixuan Huang","raw_affiliation_strings":["Southeast University,School of Instrument Science and Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Instrument Science and Engineering,China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065924399","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0003-4211-2337"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hong Liu","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031271106","display_name":"Wang Gao","orcid":"https://orcid.org/0000-0002-4856-2454"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Gao","raw_affiliation_strings":["Southeast University,School of Instrument Science and Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Instrument Science and Engineering,China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070109127","display_name":"Shuguo Pan","orcid":"https://orcid.org/0000-0003-0724-9020"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuguo Pan","raw_affiliation_strings":["Southeast University,School of Instrument Science and Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Instrument Science and Engineering,China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102047228","display_name":"Heng Zhao","orcid":"https://orcid.org/0009-0009-1093-7386"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Heng Zhao","raw_affiliation_strings":["Southeast University,School of Instrument Science and Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Instrument Science and Engineering,China","institution_ids":["https://openalex.org/I76569877"]}]}],"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":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8834","last_page":"8841"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9833999872207642,"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":0.9833999872207642,"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":0.002899999963119626,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.001500000013038516,"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/histogram","display_name":"Histogram","score":0.5514000058174133},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.527899980545044},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5267000198364258},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.5214999914169312},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.49619999527931213},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4871000051498413},{"id":"https://openalex.org/keywords/semantic-feature","display_name":"Semantic feature","score":0.4390999972820282},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.42879998683929443},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.41589999198913574},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.3971000015735626}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6712999939918518},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6482999920845032},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.5514000058174133},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.527899980545044},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5267000198364258},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.5214999914169312},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.49619999527931213},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4871000051498413},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45680001378059387},{"id":"https://openalex.org/C2781122975","wikidata":"https://www.wikidata.org/wiki/Q16928266","display_name":"Semantic feature","level":2,"score":0.4390999972820282},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.42879998683929443},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.41589999198913574},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.3971000015735626},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.3343000113964081},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.329800009727478},{"id":"https://openalex.org/C127449775","wikidata":"https://www.wikidata.org/wiki/Q3785871","display_name":"Histogram matching","level":4,"score":0.3294999897480011},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.3260999917984009},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.310699999332428},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.3093000054359436},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3084000051021576},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.29919999837875366},{"id":"https://openalex.org/C111208986","wikidata":"https://www.wikidata.org/wiki/Q901698","display_name":"Distance matrix","level":2,"score":0.29019999504089355},{"id":"https://openalex.org/C80899671","wikidata":"https://www.wikidata.org/wiki/Q1304193","display_name":"Vertex (graph theory)","level":3,"score":0.2874999940395355},{"id":"https://openalex.org/C153120616","wikidata":"https://www.wikidata.org/wiki/Q17068315","display_name":"Manifold alignment","level":4,"score":0.28040000796318054},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.2786000072956085},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.2639999985694885},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.26089999079704285},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246959","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2094072727","https://openalex.org/W2127102696","https://openalex.org/W2910489334","https://openalex.org/W2951019013","https://openalex.org/W2963708168","https://openalex.org/W2964029185","https://openalex.org/W2979750740","https://openalex.org/W3007240855","https://openalex.org/W3011465262","https://openalex.org/W3039808820","https://openalex.org/W3109154950","https://openalex.org/W3110475565","https://openalex.org/W3129920626","https://openalex.org/W3132982513","https://openalex.org/W3167842529","https://openalex.org/W3168086592","https://openalex.org/W3177271542","https://openalex.org/W4294811324","https://openalex.org/W4312275786","https://openalex.org/W4312942802","https://openalex.org/W4383066341","https://openalex.org/W4385975620","https://openalex.org/W4390778110","https://openalex.org/W4391216062","https://openalex.org/W4391806940","https://openalex.org/W4401414466","https://openalex.org/W4402727356","https://openalex.org/W4411948482"],"related_works":[],"abstract_inverted_index":{"One-shot":[0],"global":[1,20,53],"localization":[2,21,54,134],"is":[3,125],"crucial":[4],"in":[5,37],"many":[6],"robotic":[7],"applications,":[8],"providing":[9],"significant":[10],"advantages":[11],"during":[12],"initialization":[13],"and":[14,34,79,100,149,156],"relocalization":[15],"processes.":[16],"However,":[17],"LiDAR-based":[18],"one-shot":[19,51],"methods":[22,140],"encounter":[23],"challenges,":[24],"including":[25,146],"local":[26],"feature":[27],"matching":[28],"errors,":[29],"sensitivity":[30],"to":[31,95,114,137],"dynamic":[32,61,75],"objects,":[33],"computational":[35],"complexity":[36],"the":[38,58,88,92,106,132],"absence":[39],"of":[40,60,91],"an":[41],"initial":[42],"pose.":[43],"To":[44,56],"address":[45],"these":[46],"issues,":[47],"we":[48,65,86],"propose":[49],"a":[50,82,102,110,120],"LiDAR-semantic-graph-based":[52],"method.":[55],"mitigate":[57],"interference":[59],"objects":[62,69,94],"on":[63,141],"localization,":[64],"extract":[66],"stable":[67],"semantic":[68,83,93,111],"from":[70],"LiDAR":[71],"point":[72],"clouds":[73],"using":[74,128],"curved":[76],"voxel":[77],"clustering":[78],"subsequently":[80,126],"construct":[81,101],"graph.":[84],"Furthermore,":[85],"leverage":[87],"distribution":[89],"characteristics":[90],"quickly":[96],"filter":[97],"candidate":[98],"retrievals":[99],"cost":[103],"matrix":[104],"for":[105],"Hungarian":[107],"algorithm,":[108],"utilizing":[109],"topological":[112],"histogram":[113],"solve":[115],"vertex":[116],"matching.":[117],"This":[118],"yields":[119],"coarse":[121],"pose":[122],"estimate,":[123],"which":[124],"refined":[127],"Fast-GICP.":[129],"We":[130],"demonstrate":[131],"superior":[133],"performance":[135],"compared":[136],"existing":[138],"state-of-the-art":[139],"multiple":[142],"large-scale":[143],"outdoor":[144],"datasets,":[145],"MulRan,":[147],"MCD,":[148],"Apollo.":[150],"Our":[151],"method":[152],"will":[153],"be":[154],"open-sourced":[155],"accessible":[157],"at:":[158],"https://github.com/Hfx-J/SGGL.":[159]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
