{"id":"https://openalex.org/W3115177024","doi":"https://doi.org/10.1109/itsc45102.2020.9294726","title":"Map-Based Localization with Factor Graphs for Automated Driving using Non-Semantic LiDAR Features","display_name":"Map-Based Localization with Factor Graphs for Automated Driving using Non-Semantic LiDAR Features","publication_year":2020,"publication_date":"2020-09-20","ids":{"openalex":"https://openalex.org/W3115177024","doi":"https://doi.org/10.1109/itsc45102.2020.9294726","mag":"3115177024"},"language":"en","primary_location":{"id":"doi:10.1109/itsc45102.2020.9294726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc45102.2020.9294726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5080777079","display_name":"Constanze Hungar","orcid":null},"institutions":[{"id":"https://openalex.org/I8659980","display_name":"Volkswagen Group (United States)","ror":"https://ror.org/034e5n787","country_code":"US","type":"company","lineage":["https://openalex.org/I1319473763","https://openalex.org/I8659980"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Constanze Hungar","raw_affiliation_strings":["Volkswagen AG"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Volkswagen AG","institution_ids":["https://openalex.org/I8659980"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083027973","display_name":"Stefan J\u00fcrgens","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stefan Jurgens","raw_affiliation_strings":["MAN Truck & Bus AG"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MAN Truck & Bus AG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008569267","display_name":"Daniel Wilbers","orcid":null},"institutions":[{"id":"https://openalex.org/I8659980","display_name":"Volkswagen Group (United States)","ror":"https://ror.org/034e5n787","country_code":"US","type":"company","lineage":["https://openalex.org/I1319473763","https://openalex.org/I8659980"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Wilbers","raw_affiliation_strings":["Volkswagen AG"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Volkswagen AG","institution_ids":["https://openalex.org/I8659980"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073402824","display_name":"Frank K\u00f6ster","orcid":"https://orcid.org/0000-0001-8684-3698"},"institutions":[{"id":"https://openalex.org/I129877168","display_name":"Carl von Ossietzky Universit\u00e4t Oldenburg","ror":"https://ror.org/033n9gh91","country_code":"DE","type":"education","lineage":["https://openalex.org/I129877168"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Koster","raw_affiliation_strings":["DLR e. V. and Carl von Ossietzky University of Oldenburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DLR e. V. and Carl von Ossietzky University of Oldenburg","institution_ids":["https://openalex.org/I129877168"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9979000091552734,"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":0.9955000281333923,"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/computer-science","display_name":"Computer science","score":0.7516341209411621},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.7444130778312683},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.733392596244812},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.6928554773330688},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6801813244819641},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5665041208267212},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5618882179260254},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5251003503799438},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.521782636642456},{"id":"https://openalex.org/keywords/independence","display_name":"Independence (probability theory)","score":0.4498051702976227},{"id":"https://openalex.org/keywords/factor","display_name":"Factor (programming language)","score":0.43768784403800964},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.335997998714447},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2012670338153839},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1653551459312439},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.140921950340271},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.12027382850646973}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7516341209411621},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.7444130778312683},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.733392596244812},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6928554773330688},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6801813244819641},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5665041208267212},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5618882179260254},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5251003503799438},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.521782636642456},{"id":"https://openalex.org/C35651441","wikidata":"https://www.wikidata.org/wiki/Q625303","display_name":"Independence (probability theory)","level":2,"score":0.4498051702976227},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.43768784403800964},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.335997998714447},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2012670338153839},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1653551459312439},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.140921950340271},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.12027382850646973},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc45102.2020.9294726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc45102.2020.9294726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W179122090","https://openalex.org/W1479814506","https://openalex.org/W1488482743","https://openalex.org/W1493454437","https://openalex.org/W1564871316","https://openalex.org/W1673310716","https://openalex.org/W2021063678","https://openalex.org/W2054969198","https://openalex.org/W2076038991","https://openalex.org/W2080823437","https://openalex.org/W2099606917","https://openalex.org/W2106564525","https://openalex.org/W2116052202","https://openalex.org/W2117646909","https://openalex.org/W2153054365","https://openalex.org/W2158151759","https://openalex.org/W2160643963","https://openalex.org/W2160821342","https://openalex.org/W2560609797","https://openalex.org/W2790185474","https://openalex.org/W2895985752","https://openalex.org/W2948273655","https://openalex.org/W2955544543","https://openalex.org/W2963121255","https://openalex.org/W2967222368","https://openalex.org/W2991452413","https://openalex.org/W2999729612","https://openalex.org/W3013216090","https://openalex.org/W3105134469","https://openalex.org/W6629283804","https://openalex.org/W6634014874","https://openalex.org/W6637131181","https://openalex.org/W6739778489","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4387400821","https://openalex.org/W4389506233","https://openalex.org/W4360995509","https://openalex.org/W3105048402","https://openalex.org/W4323365876","https://openalex.org/W3215582602","https://openalex.org/W4387042222","https://openalex.org/W3171711237"],"abstract_inverted_index":{"The":[0,133,150],"knowledge":[1],"of":[2,6,40,70,77,156],"the":[3,85,98,108,112,117,140,185],"map-relative":[4],"pose":[5],"a":[7,17,21,130,161],"vehicle":[8,141],"is":[9,136,145,174],"crucial":[10],"for":[11],"automated":[12],"driving.":[13],"This":[14],"paper":[15,33],"presents":[16],"localization":[18,163],"approach":[19,75,144,173],"using":[20],"graph-based":[22],"sliding":[23],"window":[24],"optimization":[25],"with":[26,107,165],"non-semantic":[27,41,158],"LiDAR":[28,94],"features.":[29],"In":[30,52],"short,":[31],"this":[32],"introduces":[34],"and":[35,45,105,125,181],"evaluates":[36],"our":[37,154,172],"overall":[38],"concept":[39],"localization,":[42],"whose":[43],"idea":[44],"steps":[46],"were":[47],"depicted":[48],"in":[49,111],"previous":[50],"publications.":[51],"doing":[53],"so,":[54],"we":[55,67,83,115],"do":[56],"not":[57],"rely":[58],"on":[59,147],"static,":[60],"semantic":[61],"landmarks,":[62],"like":[63],"building":[64],"corners,":[65],"thus":[66],"achieve":[68],"independence":[69],"these":[71],"infrastructure":[72],"elements.":[73],"Our":[74,143],"consists":[76],"three":[78],"main":[79],"steps.":[80],"At":[81],"first,":[82],"collect":[84],"input":[86],"data,":[87],"i.":[88],"e.":[89],"extracting":[90],"on-board":[91,99,118],"features":[92,100,109],"from":[93],"point":[95],"clouds.":[96],"Afterward,":[97],"are":[101],"associated":[102],"over":[103,179],"time":[104],"matched":[106,122],"stored":[110],"map.":[113],"Then,":[114],"use":[116],"detected":[119],"features,":[120,123],"map":[121],"odometry":[124],"GNSS":[126],"measurements":[127],"to":[128,138],"build":[129],"factor":[131,134],"graph.":[132],"graph":[135],"optimized":[137],"estimate":[139],"pose.":[142],"tested":[146],"real-world":[148],"data.":[149],"experiment":[151],"suggests":[152],"that":[153,171],"method":[155],"applying":[157],"elements":[159],"provides":[160],"working":[162],"solution":[164],"practical":[166],"relevance.":[167],"It":[168],"also":[169],"displays":[170],"persistent":[175],"examining":[176],"test":[177],"drives":[178],"one":[180],"half":[182],"years":[183],"along":[184],"same":[186],"route.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
