{"id":"https://openalex.org/W2989962984","doi":"https://doi.org/10.1109/itsc.2019.8916886","title":"Vision based vehicle relocalization in 3D line-feature map using Perspective-n-Line with a known vertical direction","display_name":"Vision based vehicle relocalization in 3D line-feature map using Perspective-n-Line with a known vertical direction","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2989962984","doi":"https://doi.org/10.1109/itsc.2019.8916886","mag":"2989962984"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2019.8916886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8916886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02388633","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053915788","display_name":"Louis Lecrosnier","orcid":"https://orcid.org/0000-0001-8570-3781"},"institutions":[{"id":"https://openalex.org/I2802505300","display_name":"\u00c9cole Sup\u00e9rieure d'Ing\u00e9nieurs en G\u00e9nie \u00c9lectrique","ror":"https://ror.org/01apwkd48","country_code":"FR","type":"education","lineage":["https://openalex.org/I2802505300"]},{"id":"https://openalex.org/I4210105918","display_name":"Normandie Universit\u00e9","ror":"https://ror.org/01k40cz91","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918"]},{"id":"https://openalex.org/I62396329","display_name":"Universit\u00e9 de Rouen Normandie","ror":"https://ror.org/03nhjew95","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I62396329"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Louis Lecrosnier","raw_affiliation_strings":["Normandie Univ, UNIROUEN, ESIGELEC, IRSEEM, Rouen, France","P\u00f4le Instrumentation, Informatique et Syst\u00e8mes (IRSEEM - Technop\u00f4le du Madrillet - Avenue Galil\u00e9e BP 10024 76801 Saint-\u00c9tienne-du-Rouvray Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Normandie Univ, UNIROUEN, ESIGELEC, IRSEEM, Rouen, France","institution_ids":["https://openalex.org/I4210105918","https://openalex.org/I2802505300","https://openalex.org/I62396329"]},{"raw_affiliation_string":"P\u00f4le Instrumentation, Informatique et Syst\u00e8mes (IRSEEM - Technop\u00f4le du Madrillet - Avenue Galil\u00e9e BP 10024 76801 Saint-\u00c9tienne-du-Rouvray Cedex - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013194782","display_name":"R\u00e9mi Boutteau","orcid":"https://orcid.org/0000-0003-1078-5043"},"institutions":[{"id":"https://openalex.org/I2802505300","display_name":"\u00c9cole Sup\u00e9rieure d'Ing\u00e9nieurs en G\u00e9nie \u00c9lectrique","ror":"https://ror.org/01apwkd48","country_code":"FR","type":"education","lineage":["https://openalex.org/I2802505300"]},{"id":"https://openalex.org/I4210105918","display_name":"Normandie Universit\u00e9","ror":"https://ror.org/01k40cz91","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918"]},{"id":"https://openalex.org/I62396329","display_name":"Universit\u00e9 de Rouen Normandie","ror":"https://ror.org/03nhjew95","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I62396329"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Remi Boutteau","raw_affiliation_strings":["Normandie Univ, UNIROUEN, ESIGELEC, IRSEEM, Rouen, France","P\u00f4le Instrumentation, Informatique et Syst\u00e8mes (IRSEEM - Technop\u00f4le du Madrillet - Avenue Galil\u00e9e BP 10024 76801 Saint-\u00c9tienne-du-Rouvray Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Normandie Univ, UNIROUEN, ESIGELEC, IRSEEM, Rouen, France","institution_ids":["https://openalex.org/I4210105918","https://openalex.org/I2802505300","https://openalex.org/I62396329"]},{"raw_affiliation_string":"P\u00f4le Instrumentation, Informatique et Syst\u00e8mes (IRSEEM - Technop\u00f4le du Madrillet - Avenue Galil\u00e9e BP 10024 76801 Saint-\u00c9tienne-du-Rouvray Cedex - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010705731","display_name":"Pascal Vasseur","orcid":"https://orcid.org/0000-0001-5145-9653"},"institutions":[{"id":"https://openalex.org/I4210105918","display_name":"Normandie Universit\u00e9","ror":"https://ror.org/01k40cz91","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918"]},{"id":"https://openalex.org/I4210108118","display_name":"Laboratoire d'Informatique, du Traitement de l'Information et des Syst\u00e8mes","ror":"https://ror.org/01f1vfy95","country_code":"FR","type":"facility","lineage":["https://openalex.org/I141576021","https://openalex.org/I4210105918","https://openalex.org/I4210105918","https://openalex.org/I4210105918","https://openalex.org/I4210108118","https://openalex.org/I62396329","https://openalex.org/I88814501"]},{"id":"https://openalex.org/I4647051","display_name":"Universit\u00e9 de Picardie Jules Verne","ror":"https://ror.org/01gyxrk03","country_code":"FR","type":"education","lineage":["https://openalex.org/I4647051"]},{"id":"https://openalex.org/I62396329","display_name":"Universit\u00e9 de Rouen Normandie","ror":"https://ror.org/03nhjew95","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I62396329"]},{"id":"https://openalex.org/I88814501","display_name":"Institut National des Sciences Appliqu\u00e9es Rouen Normandie","ror":"https://ror.org/020ws7586","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I88814501"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pascal Vasseur","raw_affiliation_strings":["Normandie Univ, UNIROUEN, UNIHAVRE, INSA Rouen, LITIS, Rouen, France","MIS - Mod\u00e9lisation, Information et Syst\u00e8mes - UR UPJV 4290 (Universit\u00e9 de Picardie Jules Verne - UFR des Sciences - 33, rue Saint Leu - \r\n80039 AMIENS CEDEX 1 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Normandie Univ, UNIROUEN, UNIHAVRE, INSA Rouen, LITIS, Rouen, France","institution_ids":["https://openalex.org/I88814501","https://openalex.org/I4210108118","https://openalex.org/I62396329","https://openalex.org/I4210105918"]},{"raw_affiliation_string":"MIS - Mod\u00e9lisation, Information et Syst\u00e8mes - UR UPJV 4290 (Universit\u00e9 de Picardie Jules Verne - UFR des Sciences - 33, rue Saint Leu - \r\n80039 AMIENS CEDEX 1 - France)","institution_ids":["https://openalex.org/I4647051"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069505366","display_name":"Xavier Savatier","orcid":"https://orcid.org/0000-0003-2494-8595"},"institutions":[{"id":"https://openalex.org/I2802505300","display_name":"\u00c9cole Sup\u00e9rieure d'Ing\u00e9nieurs en G\u00e9nie \u00c9lectrique","ror":"https://ror.org/01apwkd48","country_code":"FR","type":"education","lineage":["https://openalex.org/I2802505300"]},{"id":"https://openalex.org/I4210105918","display_name":"Normandie Universit\u00e9","ror":"https://ror.org/01k40cz91","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918"]},{"id":"https://openalex.org/I4392021201","display_name":"Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s","ror":"https://ror.org/00y3jmn59","country_code":null,"type":"facility","lineage":["https://openalex.org/I2802505300","https://openalex.org/I4210105918","https://openalex.org/I4392021201","https://openalex.org/I62396329"]},{"id":"https://openalex.org/I62396329","display_name":"Universit\u00e9 de Rouen Normandie","ror":"https://ror.org/03nhjew95","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210105918","https://openalex.org/I62396329"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Xavier Savatier","raw_affiliation_strings":["Normandie Univ, UNIROUEN, ESIGELEC, IRSEEM, Rouen, France","IRSEEM - Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s (Technop\u00f4le du Madrillet - Avenue Galil\u00e9e BP 10024 76801 Saint-\u00c9tienne-du-Rouvray Cedex - France)","P\u00f4le Instrumentation, Informatique et Syst\u00e8mes (IRSEEM - Technop\u00f4le du Madrillet - Avenue Galil\u00e9e BP 10024 76801 Saint-\u00c9tienne-du-Rouvray Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Normandie Univ, UNIROUEN, ESIGELEC, IRSEEM, Rouen, France","institution_ids":["https://openalex.org/I4210105918","https://openalex.org/I2802505300","https://openalex.org/I62396329"]},{"raw_affiliation_string":"IRSEEM - Institut de Recherche en Syst\u00e8mes Electroniques Embarqu\u00e9s (Technop\u00f4le du Madrillet - Avenue Galil\u00e9e BP 10024 76801 Saint-\u00c9tienne-du-Rouvray Cedex - France)","institution_ids":["https://openalex.org/I4392021201"]},{"raw_affiliation_string":"P\u00f4le Instrumentation, Informatique et Syst\u00e8mes (IRSEEM - Technop\u00f4le du Madrillet - Avenue Galil\u00e9e BP 10024 76801 Saint-\u00c9tienne-du-Rouvray Cedex - France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068079834","display_name":"Friedrich Fraundorfer","orcid":"https://orcid.org/0000-0002-5805-8892"},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Friedrich Fraundorfer","raw_affiliation_strings":["Institute for Computer Graphics and Vision, Graz University of Technology, Graz, Austria","Institute of Computer Graphics and Vision [Graz] (Inffeldgasse 16/II, 8010 Graz - Austria)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Computer Graphics and Vision, Graz University of Technology, Graz, Austria","institution_ids":["https://openalex.org/I4092182"]},{"raw_affiliation_string":"Institute of Computer Graphics and Vision [Graz] (Inffeldgasse 16/II, 8010 Graz - Austria)","institution_ids":["https://openalex.org/I4092182"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.5193,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.96636654,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1263","last_page":"1269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9969000220298767,"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":0.9969000220298767,"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/ransac","display_name":"RANSAC","score":0.8453068733215332},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.7539253234863281},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7033210396766663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6985401511192322},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6525921821594238},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6241071820259094},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5452015399932861},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5012459754943848},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4879886507987976},{"id":"https://openalex.org/keywords/parallel","display_name":"Parallel","score":0.47194069623947144},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4515421390533447},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4251854121685028},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.41227641701698303},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3077268600463867},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.18291646242141724},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1779097616672516},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.17299124598503113},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11757862567901611}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.8453068733215332},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7539253234863281},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7033210396766663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6985401511192322},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6525921821594238},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6241071820259094},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5452015399932861},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5012459754943848},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4879886507987976},{"id":"https://openalex.org/C88740403","wikidata":"https://www.wikidata.org/wiki/Q53875","display_name":"Parallel","level":2,"score":0.47194069623947144},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4515421390533447},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4251854121685028},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.41227641701698303},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3077268600463867},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.18291646242141724},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1779097616672516},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.17299124598503113},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11757862567901611},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/itsc.2019.8916886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8916886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:132444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ITSC.2019.8916886>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:HAL:hal-02388633v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02388633","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference - ITSC, Oct 2019, Auckland, New Zealand. pp.1263-1269, ⟨10.1109/ITSC.2019.8916886⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02388633v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02388633","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference - ITSC, Oct 2019, Auckland, New Zealand. pp.1263-1269, ⟨10.1109/ITSC.2019.8916886⟩","raw_type":"Conference papers"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1569835928","https://openalex.org/W1677409904","https://openalex.org/W1975461372","https://openalex.org/W1991544872","https://openalex.org/W1992989752","https://openalex.org/W2003919215","https://openalex.org/W2033819227","https://openalex.org/W2054969198","https://openalex.org/W2060875686","https://openalex.org/W2085261163","https://openalex.org/W2096758544","https://openalex.org/W2097361087","https://openalex.org/W2098735323","https://openalex.org/W2122612384","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2153326665","https://openalex.org/W2168241268","https://openalex.org/W2207423472","https://openalex.org/W2241066785","https://openalex.org/W2314738007","https://openalex.org/W2473967151","https://openalex.org/W2613449306","https://openalex.org/W2768540163","https://openalex.org/W3106104030"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W4387404124","https://openalex.org/W4229588126","https://openalex.org/W2769402452","https://openalex.org/W2091258128","https://openalex.org/W1018308721","https://openalex.org/W1983540692","https://openalex.org/W4229059082","https://openalex.org/W4390872624","https://openalex.org/W4315926687"],"abstract_inverted_index":{"Common":[0],"approaches":[1],"for":[2],"vehicle":[3],"localization":[4,37],"pro-pose":[5],"to":[6,15,41,122,141,150,178,190,198],"match":[7,191],"LiDAR":[8,19,51],"data":[9],"or":[10,108],"2D":[11],"features":[12,192],"from":[13,77,104],"cameras":[14],"a":[16,34,72,78,82,94,99,111,118,143,153,160,211,216],"prior":[17,73,89],"3D":[18,49,74],"map.":[20],"Yet,":[21],"these":[22],"methods":[23],"require":[24],"both":[25],"heavy":[26],"computational":[27],"power":[28],"often":[29],"provided":[30],"by":[31],"GPU,":[32],"and":[33,47,86,129,146,168,193,214],"first":[35],"rough":[36],"estimate":[38],"via":[39],"GNSS":[40,83],"be":[42,54,195],"performed":[43],"online.":[44],"Moreover,":[45],"storing":[46],"accessing":[48],"dense":[50],"maps":[52],"can":[53,194],"challenging":[55,217],"in":[56,71,81],"case":[57],"of":[58,67,156,187,207,219],"city-wide":[59],"coverage.In":[60],"this":[61],"paper,":[62],"we":[63],"address":[64],"the":[65,124,131,185,205,220],"problem":[66],"camera":[68],"global":[69],"relocalization":[70],"line-feature":[75],"map":[76],"single":[79],"image,":[80],"denied":[84],"context":[85],"with":[87,110,152,210],"no":[88,148],"pose":[90,101,144],"estimation.":[91],"We":[92,97,158],"propose":[93,159],"dual":[95],"contribution.(1)":[96],"introduce":[98],"novel":[100],"estimation":[102],"method":[103,116,183],"lines,":[105],"(i.e.":[106],"Perspective-n-Line":[107],"PnL),":[109],"known":[112],"vertical":[113,126],"direction.":[114],"Our":[115,134,182],"benefits":[117],"Gauss-Newton":[119],"optimization":[120],"scheme":[121],"compensate":[123],"sensor-induced":[125],"direction":[127],"errors,":[128],"refine":[130],"overall":[132],"pose.":[133],"algorithm":[135,171],"requires":[136,147],"at":[137],"least":[138],"3":[139],"lines":[140],"output":[142],"(P3L)":[145],"reformulation":[149],"operate":[151],"higher":[154],"number":[155,186],"lines.(2)":[157],"RANSAC":[161],"(RANdom":[162],"SAmple":[163],"Consensus)":[164],"2D-3D":[165,175],"line":[166,176],"matching":[167],"outliers":[169],"removal":[170],"requiring":[172],"solely":[173],"one":[174],"pair":[177],"operate,":[179],"i.e.":[180],"RANSAC1.":[181],"reduces":[184],"iteration":[188],"required":[189],"easily":[196],"modified":[197],"exhaustively":[199],"test":[200],"all":[201],"feature":[202],"combinations.We":[203],"evaluate":[204],"robustness":[206],"our":[208],"algorithms":[209],"synthetic":[212],"data,":[213],"on":[215],"sub-sequence":[218],"KITTI":[221],"dataset.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-17T06:14:20.161405","created_date":"2025-10-10T00:00:00"}