{"id":"https://openalex.org/W2905511230","doi":"https://doi.org/10.1109/itsc.2018.8570011","title":"Efficient Multi-Drive Map Optimization towards Life-long Localization using Surround View","display_name":"Efficient Multi-Drive Map Optimization towards Life-long Localization using Surround View","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2905511230","doi":"https://doi.org/10.1109/itsc.2018.8570011","mag":"2905511230"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2018.8570011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2018.8570011","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 21st 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/A5057045342","display_name":"M. Witmark Sons","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Marc Sons","raw_affiliation_strings":["FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology(KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology(KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5057045342"],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":6.2103,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.96027754,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2671","last_page":"2677"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9980999827384949,"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":0.9970999956130981,"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/computer-science","display_name":"Computer science","score":0.7874798774719238},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.6655765771865845},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5872916579246521},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5691940188407898},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5487053394317627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5153083801269531},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.5131788849830627},{"id":"https://openalex.org/keywords/disjoint-sets","display_name":"Disjoint sets","score":0.5087147355079651},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3540921211242676},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.2353072166442871},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12566348910331726},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.09433582425117493}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7874798774719238},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6655765771865845},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5872916579246521},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5691940188407898},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5487053394317627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5153083801269531},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.5131788849830627},{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.5087147355079651},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3540921211242676},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2353072166442871},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12566348910331726},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.09433582425117493},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2018.8570011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2018.8570011","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 21st International Conference on Intelligent Transportation Systems (ITSC)","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":22,"referenced_works":["https://openalex.org/W1595095702","https://openalex.org/W1875235752","https://openalex.org/W1968315983","https://openalex.org/W1968771169","https://openalex.org/W1970329928","https://openalex.org/W1974258316","https://openalex.org/W1999399477","https://openalex.org/W2032924574","https://openalex.org/W2127578024","https://openalex.org/W2151005018","https://openalex.org/W2152032429","https://openalex.org/W2168676389","https://openalex.org/W2198391854","https://openalex.org/W2412846155","https://openalex.org/W2560863959","https://openalex.org/W2563919921","https://openalex.org/W2741562645","https://openalex.org/W2770176163","https://openalex.org/W2949874165","https://openalex.org/W2962781507","https://openalex.org/W3016205154","https://openalex.org/W3105489439"],"related_works":["https://openalex.org/W4386936491","https://openalex.org/W3007931018","https://openalex.org/W3110195467","https://openalex.org/W3033823235","https://openalex.org/W2052432379","https://openalex.org/W3117915744","https://openalex.org/W768388283","https://openalex.org/W3106489079","https://openalex.org/W3130617165","https://openalex.org/W2077561982"],"abstract_inverted_index":{"Current":[0],"vision-based":[1],"localization":[2],"approaches":[3,23],"enable":[4],"reliable":[5],"positioning":[6],"in":[7,164],"areas":[8],"where":[9],"global":[10,151],"navigation":[11],"satellite":[12],"systems":[13],"(GNSS)":[14],"fail":[15],"due":[16],"to":[17,31,53,66,120,144],"multipath":[18],"and":[19,45,56,177],"shadowing":[20],"effects.":[21],"These":[22],"require":[24],"an":[25,62],"up-to-date":[26],"map.":[27],"It":[28],"seems":[29],"promising":[30],"update":[32],"such":[33],"maps":[34,70],"iteratively":[35],"after":[36],"passing":[37],"the":[38,49,88,107,117,121,146,168,175],"mapped":[39],"area":[40],"again.":[41],"However,":[42],"bundling":[43],"more":[44,46],"passes":[47,182],"into":[48,112],"existing":[50],"map":[51,148],"leads":[52],"unbounded":[54],"computation":[55,78],"memory":[57],"complexity.":[58,79],"Herein":[59],"we":[60,124,153],"propose":[61],"iterative":[63],"optimization":[64,81],"approach":[65,169],"create":[67],"highly":[68],"accurate":[69],"comprising":[71],"any":[72],"number":[73],"of":[74,127,174],"drives":[75],"with":[76],"constant":[77],"The":[80],"bases":[82],"on":[83,186],"keypoint":[84],"correspondences":[85],"matched":[86],"between":[87],"recorded":[89],"images":[90],"from":[91,141,157,179],"multiple":[92],"drives.":[93],"First,":[94],"each":[95],"new":[96,118],"drive":[97,119],"is":[98,110],"reconstructed":[99],"separately":[100],"by":[101],"a":[102,158,171],"sliding":[103],"window":[104],"bundle-adjustment.":[105],"Thereafter,":[106],"estimated":[108],"trajectory":[109],"divided":[111],"disjoint":[113],"clusters.":[114],"To":[115],"align":[116],"current":[122],"map,":[123],"optimize":[125],"pairs":[126],"clusters":[128,143],"which":[129],"are":[130],"interconnected":[131],"through":[132],"loop-closure":[133],"or":[134],"inter-drive":[135],"correspondences.":[136],"We":[137,162],"derive":[138],"pose":[139],"differences":[140],"all":[142],"estimate":[145,173],"final":[147],"poses.":[149],"For":[150],"accuracy,":[152],"add":[154],"GNSS":[155],"measurements":[156],"low":[159],"cost":[160],"receiver.":[161],"show":[163],"our":[165],"experiments":[166],"that":[167],"enables":[170],"joint":[172],"trajectories":[176],"landmarks":[178],"numerous":[180],"city-scaled":[181],"within":[183],"several":[184],"hours":[185],"desktop":[187],"computers.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}