{"id":"https://openalex.org/W2979409870","doi":"https://doi.org/10.1109/itsc.2019.8917390","title":"Improving Map Re-localization with Deep \u2018Movable\u2019 Objects Segmentation on 3D LiDAR Point Clouds","display_name":"Improving Map Re-localization with Deep \u2018Movable\u2019 Objects Segmentation on 3D LiDAR Point Clouds","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2979409870","doi":"https://doi.org/10.1109/itsc.2019.8917390","mag":"2979409870"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2019.8917390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8917390","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":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.03336","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039109392","display_name":"V. Vaquero","orcid":"https://orcid.org/0000-0003-2516-2551"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Victor Vaquero","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial,Barcelona,Spain,08028"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial,Barcelona,Spain,08028","institution_ids":["https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101863013","display_name":"Kai Fischer","orcid":"https://orcid.org/0000-0002-3881-120X"},"institutions":[{"id":"https://openalex.org/I4210112099","display_name":"Valeo (Germany)","ror":"https://ror.org/01zkeq752","country_code":"DE","type":"company","lineage":["https://openalex.org/I220619192","https://openalex.org/I4210112099"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai Fischer","raw_affiliation_strings":["Valeo Schalter und Sensoren GmbH, Kronach, Germany","Valeo Schalter und Sensoren GmbH,Kronach,Germany,96317"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Valeo Schalter und Sensoren GmbH, Kronach, Germany","institution_ids":["https://openalex.org/I4210112099"]},{"raw_affiliation_string":"Valeo Schalter und Sensoren GmbH,Kronach,Germany,96317","institution_ids":["https://openalex.org/I4210112099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106691454","display_name":"Francesc Moreno-Noguer","orcid":"https://orcid.org/0000-0002-8640-684X"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francesc Moreno-Noguer","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial,Barcelona,Spain,08028"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial,Barcelona,Spain,08028","institution_ids":["https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041730641","display_name":"Alberto Sanfeliu","orcid":"https://orcid.org/0000-0003-3868-9678"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alberto Sanfeliu","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial,Barcelona,Spain,08028"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial,Barcelona,Spain,08028","institution_ids":["https://openalex.org/I4210093282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102933058","display_name":"Stefan Milz","orcid":"https://orcid.org/0000-0002-9326-3138"},"institutions":[{"id":"https://openalex.org/I4210112099","display_name":"Valeo (Germany)","ror":"https://ror.org/01zkeq752","country_code":"DE","type":"company","lineage":["https://openalex.org/I220619192","https://openalex.org/I4210112099"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Milz","raw_affiliation_strings":["Valeo Schalter und Sensoren GmbH, Kronach, Germany","Valeo Schalter und Sensoren GmbH,Kronach,Germany,96317"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Valeo Schalter und Sensoren GmbH, Kronach, Germany","institution_ids":["https://openalex.org/I4210112099"]},{"raw_affiliation_string":"Valeo Schalter und Sensoren GmbH,Kronach,Germany,96317","institution_ids":["https://openalex.org/I4210112099"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8752,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.77670987,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"942","last_page":"949"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9990000128746033,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9965000152587891,"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/point-cloud","display_name":"Point cloud","score":0.8380533456802368},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7683358192443848},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7596771717071533},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7375997304916382},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6826044917106628},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6723924279212952},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6468781232833862},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6342371702194214},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47473177313804626},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4718722701072693},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.41587409377098083},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1969999372959137},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1956254541873932},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1414635181427002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10685282945632935}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8380533456802368},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7683358192443848},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7596771717071533},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7375997304916382},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6826044917106628},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6723924279212952},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6468781232833862},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6342371702194214},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47473177313804626},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4718722701072693},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.41587409377098083},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1969999372959137},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1956254541873932},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1414635181427002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10685282945632935},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/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":5,"locations":[{"id":"doi:10.1109/itsc.2019.8917390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8917390","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:arXiv.org:1910.03336","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.03336","pdf_url":"https://arxiv.org/pdf/1910.03336","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:digital.csic.es:10261/206745","is_oa":false,"landing_page_url":"http://hdl.handle.net/10261/206745","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"comunicaci\u00f3n de congreso"},{"id":"doi:10.48550/arxiv.1910.03336","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.03336","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"},{"id":"mag:2979409870","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.03336","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.03336","pdf_url":"https://arxiv.org/pdf/1910.03336","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1677182931","https://openalex.org/W2097144670","https://openalex.org/W2131684180","https://openalex.org/W2146881125","https://openalex.org/W2150066425","https://openalex.org/W2163605009","https://openalex.org/W2266469970","https://openalex.org/W2279098554","https://openalex.org/W2295130602","https://openalex.org/W2296228853","https://openalex.org/W2395611524","https://openalex.org/W2461937780","https://openalex.org/W2527172881","https://openalex.org/W2558294288","https://openalex.org/W2560609797","https://openalex.org/W2750632489","https://openalex.org/W2767840187","https://openalex.org/W2798278946","https://openalex.org/W2872491670","https://openalex.org/W2889390559","https://openalex.org/W2909908358","https://openalex.org/W2962867954","https://openalex.org/W2962912109","https://openalex.org/W2963046720","https://openalex.org/W2963083779","https://openalex.org/W2963121255","https://openalex.org/W2963438049","https://openalex.org/W2963647876","https://openalex.org/W2963721253","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2968557240","https://openalex.org/W3098786811","https://openalex.org/W3099455272","https://openalex.org/W3124420883","https://openalex.org/W6684191040","https://openalex.org/W6695314431","https://openalex.org/W6739778489","https://openalex.org/W6745935785","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W2989851709","https://openalex.org/W3138983366","https://openalex.org/W3003038102","https://openalex.org/W2910925829","https://openalex.org/W2922315176","https://openalex.org/W2903928505","https://openalex.org/W3039541013","https://openalex.org/W3128391467","https://openalex.org/W2981992038","https://openalex.org/W3048026019","https://openalex.org/W3211006023","https://openalex.org/W2983458179","https://openalex.org/W2921043432","https://openalex.org/W2741562645","https://openalex.org/W2952835432","https://openalex.org/W2789448087","https://openalex.org/W2977863207","https://openalex.org/W2970981312","https://openalex.org/W2966985372","https://openalex.org/W2907749395"],"abstract_inverted_index":{"Localization":[0],"and":[1,12,24,45,105,109,126,142,147,183],"Mapping":[2],"is":[3],"an":[4,14,172],"essential":[5],"component":[6],"to":[7,29,81,92,160,178,188],"enable":[8],"Autonomous":[9],"Vehicles":[10],"navigation,":[11],"requires":[13],"accuracy":[15],"exceeding":[16],"that":[17,156],"of":[18,37,39,56,65,76,119,174,184],"commercial":[19],"GPS-based":[20],"systems.":[21],"Current":[22],"odometry":[23],"mapping":[25],"algorithms":[26,41],"are":[27,158],"able":[28,159],"provide":[30],"this":[31,70],"accurate":[32,107],"information.":[33],"However,":[34],"the":[35,54,74,117,194],"lack":[36],"robustness":[38],"these":[40],"against":[42],"dynamic":[43,125],"obstacles":[44],"environmental":[46],"changes,":[47],"even":[48],"for":[49,102],"short":[50],"time":[51],"periods,":[52],"forces":[53],"generation":[55],"new":[57],"maps":[58],"on":[59,112,139,193],"every":[60],"session":[61],"without":[62,148],"taking":[63],"advantage":[64],"previously":[66],"obtained":[67],"ones.":[68],"In":[69],"paper":[71],"we":[72,135,157],"propose":[73],"use":[75],"a":[77,123,129,164,179,189],"deep":[78],"learning":[79],"architecture":[80],"segment":[82],"movable":[83,150],"objects":[84,151],"from":[85],"3D":[86,95],"LiDAR":[87],"point":[88],"clouds":[89],"in":[90,99,122],"order":[91],"obtain":[93],"longer-lasting":[94],"maps.":[96],"This":[97],"will":[98],"turn":[100],"allow":[101],"better,":[103],"faster":[104],"more":[106],"re-localization":[108],"trajectoy":[110],"estimation":[111],"subsequent":[113],"days.":[114],"We":[115],"show":[116,155],"effectiveness":[118],"our":[120,149],"approach":[121],"very":[124],"cluttered":[127],"scenario,":[128],"supermarket":[130],"parking":[131],"lot.":[132],"For":[133],"that,":[134],"record":[136],"several":[137],"sequences":[138],"different":[140],"days":[141],"compare":[143],"localization":[144],"errors":[145,170],"with":[146,176,186],"segmentation":[152],"method.":[153],"Results":[154],"accurately":[161],"re-locate":[162],"over":[163],"filtered":[165],"map,":[166],"consistently":[167],"reducing":[168],"trajectory":[169],"between":[171],"average":[173],"35.1%":[175],"respect":[177,187],"non-filtered":[180],"map":[181,191],"version":[182],"47.9%":[185],"standalone":[190],"created":[192],"current":[195],"session.":[196]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
