{"id":"https://openalex.org/W2794166874","doi":"https://doi.org/10.1109/itsc.2017.8317840","title":"Autonomous vehicle self-localization based on probabilistic planar surface map and multi-channel LiDAR in urban area","display_name":"Autonomous vehicle self-localization based on probabilistic planar surface map and multi-channel LiDAR in urban area","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2794166874","doi":"https://doi.org/10.1109/itsc.2017.8317840","mag":"2794166874"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2017.8317840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2017.8317840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)","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/A5080705403","display_name":"Ehsan Javanmardi","orcid":"https://orcid.org/0000-0003-0337-115X"},"institutions":[{"id":"https://openalex.org/I14396692","display_name":"Tokyo University of Information Sciences","ror":"https://ror.org/044bdx604","country_code":"JP","type":"education","lineage":["https://openalex.org/I14396692"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ehsan Javanmardi","raw_affiliation_strings":["Department of Information & Communication Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information & Communication Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I14396692","https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070911378","display_name":"Mahdi Javanmardi","orcid":"https://orcid.org/0000-0001-6785-0139"},"institutions":[{"id":"https://openalex.org/I14396692","display_name":"Tokyo University of Information Sciences","ror":"https://ror.org/044bdx604","country_code":"JP","type":"education","lineage":["https://openalex.org/I14396692"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mahdi Javanmardi","raw_affiliation_strings":["Department of Information & Communication Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information & Communication Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I14396692","https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070068490","display_name":"Yanlei Gu","orcid":"https://orcid.org/0000-0001-9708-7429"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yanlei Gu","raw_affiliation_strings":["The Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109244048","display_name":"Shunsuke Kamijo","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunsuke Kamijo","raw_affiliation_strings":["The Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.0474,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98357782,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9968000054359436,"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":0.9968000054359436,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9940999746322632,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9894999861717224,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7370383739471436},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.654963493347168},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6074860095977783},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.5280497670173645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5178311467170715},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4540007412433624},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4414832293987274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3954606354236603},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.38367828726768494},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2802586555480957},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.16300061345100403},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12670490145683289},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09456992149353027},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07199552655220032}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7370383739471436},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.654963493347168},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6074860095977783},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.5280497670173645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5178311467170715},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4540007412433624},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4414832293987274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3954606354236603},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.38367828726768494},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2802586555480957},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.16300061345100403},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12670490145683289},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09456992149353027},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07199552655220032}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2017.8317840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2017.8317840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W93629304","https://openalex.org/W1525964230","https://openalex.org/W1567242735","https://openalex.org/W1650975994","https://openalex.org/W1970329928","https://openalex.org/W1971843595","https://openalex.org/W2000018820","https://openalex.org/W2064286621","https://openalex.org/W2089985739","https://openalex.org/W2131439959","https://openalex.org/W2133123543","https://openalex.org/W2137985019","https://openalex.org/W2295130602","https://openalex.org/W2388569008","https://openalex.org/W2486452906","https://openalex.org/W2545512414","https://openalex.org/W2567458831","https://openalex.org/W2591762740","https://openalex.org/W6603831677","https://openalex.org/W6731928466","https://openalex.org/W6734174086"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W2179405771"],"abstract_inverted_index":{"Autonomous":[0],"vehicle":[1,63],"self-positioning":[2],"based":[3,213,269],"on":[4,117,214],"3D":[5,53,68,108,152],"light":[6],"detection":[7],"and":[8,31,77,131,155,160,218],"ranging":[9],"(Lidar)":[10],"has":[11],"become":[12],"popular":[13],"recently":[14],"due":[15],"to":[16,49,57,75,129,195,222,224,265],"disadvantages":[17],"of":[18,61,85,176,229,236,240,258],"global":[19],"navigation":[20],"satellite":[21],"system":[22],"(GNSS)":[23],"in":[24,125,141,168,200,234],"urban":[25,126,238],"areas.":[26],"As":[27,182],"LiDAR-based":[28],"simultaneous":[29],"localization":[30,202,260],"mapping":[32],"(SLAM)":[33],"methods":[34],"suffer":[35],"from":[36,150],"error":[37,257],"accumulation,":[38],"state-of-the-art":[39],"approaches":[40],"match":[41,219],"the":[42,50,59,62,65,118,133,147,151,189,201,226,230,237,249,255,259],"point":[43,54,69,109,153,267],"cloud":[44,55,70,110,154,268],"data":[45,86,221],"acquired":[46],"by":[47,138,178],"LiDAR":[48,220],"priori":[51],"known":[52],"map":[56,71,190,250],"obtain":[58,225],"position":[60],"within":[64],"map.":[66,166],"However,":[67],"is":[72],"very":[73],"expensive":[74],"store":[76,161],"download":[78],"as":[79,112,163],"it":[80,223],"contains":[81],"an":[82],"enormous":[83],"amount":[84],"even":[87,244],"for":[88,209],"a":[89,113,164,183],"small":[90],"area":[91],"(around":[92],"300":[93],"million":[94,193],"points":[95,177,194],"per":[96],"km":[97],"<sup":[98],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[99],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[100],").":[101],"In":[102],"this":[103,169],"study,":[104],"rather":[105],"than":[106,262],"using":[107],"directly":[111],"map,":[114,144,170],"we":[115,145,171,185,204,246,252],"focused":[116],"planar":[119,148,211],"surfaces":[120,149],"which":[121],"are":[122],"mostly":[123],"available":[124],"areas,":[127],"easy":[128],"extract,":[130],"at":[132],"same":[134],"time":[135],"clearly":[136],"observable":[137],"LiDAR.":[139],"Therefore,":[140],"our":[142],"proposed":[143],"extract":[146],"calculate":[156],"its":[157],"uncertainty":[158],"(deviation)":[159],"them":[162],"prior":[165],"Accordingly,":[167],"can":[172,186],"abstract":[173],"several":[174],"thousands":[175],"only":[179],"one":[180,235],"plane.":[181],"result,":[184],"extremely":[187,247],"shrink":[188],"size":[191],"(25":[192],"around":[196],"1000":[197],"planes).":[198],"Later":[199],"phase,":[203],"reconstruct":[205],"Gaussian":[206],"mixture":[207],"model":[208],"each":[210],"surface":[212],"previously":[215],"stored":[216],"deviation,":[217],"precise":[227],"location":[228],"vehicle.":[231],"Experiments":[232],"conducted":[233],"areas":[239],"Tokyo":[241],"show":[242],"that":[243],"though":[245],"shrank":[248],"size,":[251],"could":[253],"preserve":[254],"mean":[256],"less":[261],"43cm":[263],"comparing":[264],"other":[266],"methods.":[270]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}