{"id":"https://openalex.org/W4416750704","doi":"https://doi.org/10.1109/iros60139.2025.11247122","title":"Visual Localization with Offline Google Satellite Map-Assisted for Ground Vehicles in GNSS-Denied Environment","display_name":"Visual Localization with Offline Google Satellite Map-Assisted for Ground Vehicles in GNSS-Denied Environment","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750704","doi":"https://doi.org/10.1109/iros60139.2025.11247122"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247122","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/A5033624470","display_name":"Jibo Wang","orcid":"https://orcid.org/0000-0001-7246-753X"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jibo Wang","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bairen Mao","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bairen Mao","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081929787","display_name":"Chenglin Pang","orcid":"https://orcid.org/0000-0001-6032-2448"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenglin Pang","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022634842","display_name":"Shiguang Liu","orcid":"https://orcid.org/0000-0003-2353-5318"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiguang Liu","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109676538","display_name":"Jindi Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I202334528","display_name":"Beijing Electronic Science and Technology Institute","ror":"https://ror.org/01xdzh226","country_code":"CN","type":"education","lineage":["https://openalex.org/I202334528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jindi Guo","raw_affiliation_strings":["Beijing Institute of Control and Electronic Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Control and Electronic Technology,Beijing,China","institution_ids":["https://openalex.org/I202334528"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101808083","display_name":"Zheng Fang","orcid":"https://orcid.org/0000-0002-3762-754X"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Fang","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42457848,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11065","last_page":"11072"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9064000248908997,"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":0.9064000248908997,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.04529999941587448,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.014000000432133675,"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/gnss-applications","display_name":"GNSS applications","score":0.7613999843597412},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5716000199317932},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5299000144004822},{"id":"https://openalex.org/keywords/satellite","display_name":"Satellite","score":0.5206000208854675},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4912000000476837},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4731999933719635},{"id":"https://openalex.org/keywords/satellite-system","display_name":"Satellite system","score":0.4390999972820282},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4343999922275543}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7613999843597412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7480999827384949},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6531000137329102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6406000256538391},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5716000199317932},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5299000144004822},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.5206000208854675},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4912000000476837},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4731999933719635},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.4390999972820282},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4343999922275543},{"id":"https://openalex.org/C36301306","wikidata":"https://www.wikidata.org/wiki/Q179435","display_name":"Satellite navigation","level":3,"score":0.4255000054836273},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3801000118255615},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.36649999022483826},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33500000834465027},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3337000012397766},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.3314000070095062},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.2994999885559082},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.2955000102519989},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2669000029563904},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.26660001277923584},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.25920000672340393},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.25360000133514404},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247122","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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W2115579991","https://openalex.org/W2140599684","https://openalex.org/W2474281075","https://openalex.org/W2479919622","https://openalex.org/W2535547924","https://openalex.org/W2799087793","https://openalex.org/W2991084911","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W4205303182","https://openalex.org/W4210883894","https://openalex.org/W4221138518","https://openalex.org/W4312350636","https://openalex.org/W4312356563","https://openalex.org/W4390872507","https://openalex.org/W4390873472","https://openalex.org/W4391164316","https://openalex.org/W4391528195","https://openalex.org/W4401415305","https://openalex.org/W4403679663"],"related_works":[],"abstract_inverted_index":{"Vehicle":[0],"localization":[1,18,54,95,125,145,161],"is":[2],"a":[3,52,99,123],"critical":[4],"component":[5],"in":[6,38,62,181],"the":[7,22,78,87,114,129,132,138,155,159,165,172],"planning":[8],"and":[9,35,43,147,168,179],"navigation":[10],"of":[11,82,90,131,177,186],"autonomous":[12],"driving":[13],"system.":[14],"Generally,":[15],"traditional":[16],"vehicle":[17,124],"methods":[19,120,146],"rely":[20],"on":[21,94],"Global":[23],"Navigation":[24],"Satellite":[25],"System":[26],"(GNSS)":[27],"for":[28],"self-localization.":[29],"Unfortunately,":[30],"GNSS":[31],"can":[32],"become":[33],"unreliable":[34],"may":[36],"fail":[37],"urban":[39],"canyons,":[40],"under":[41],"trees,":[42],"beneath":[44],"overpasses.":[45],"To":[46,85,127],"address":[47],"this":[48,187],"problem,":[49],"we":[50,68,97,112,135],"propose":[51,98],"visual":[53,83],"framework":[55],"assisted":[56],"by":[57],"offline":[58],"Google":[59],"satellite":[60],"maps":[61],"GNSS-weak":[63],"or":[64],"GNSS-denied":[65],"environments.":[66],"And":[67],"introduce":[69],"learning-based":[70],"ground-to-satellite":[71],"map":[72],"feature":[73,148],"matching":[74,92,149],"method":[75,104,116,157,170],"to":[76,105,121],"mitigate":[77],"long-term":[79],"cumulative":[80],"drift":[81],"odometry.":[84],"reduce":[86],"negative":[88],"impact":[89],"cross-view":[91,101],"errors":[93],"accuracy,":[96],"novel":[100],"pose":[102,108],"selection":[103],"build":[106],"two":[107],"uncertainty":[109],"models.":[110],"Moreover,":[111],"combine":[113],"proposed":[115,133,156],"with":[117,142,164],"classical":[118],"SLAM":[119],"develop":[122],"framework.":[126],"verify":[128],"performance":[130,162],"method,":[134],"carried":[136],"out":[137],"accuracy":[139],"comparison":[140],"experiment":[141],"state-of-the-art":[143,166],"fusion":[144],"methods.":[150],"Experimental":[151],"results":[152],"indicate":[153],"that":[154],"achieves":[158,171],"best":[160],"compared":[163],"methods,":[167],"our":[169],"root":[173],"mean":[174],"square":[175],"error":[176],"0.290m":[178],"0.014rad":[180],"KITTI-05.":[182],"The":[183],"implementation":[184],"code":[185],"paper":[188],"will":[189],"be":[190],"open-source":[191],"at":[192],"https://github.com/NEU-REAL/visualLocalization-with-satelliteMap.":[193]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}