{"id":"https://openalex.org/W3210984421","doi":"https://doi.org/10.1109/itsc48978.2021.9564905","title":"Point-cloud Map Update for Connected and Autonomous Vehicles Based on Vehicle Infrastructure Cooperation: Framework and Field Experiments","display_name":"Point-cloud Map Update for Connected and Autonomous Vehicles Based on Vehicle Infrastructure Cooperation: Framework and Field Experiments","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3210984421","doi":"https://doi.org/10.1109/itsc48978.2021.9564905","mag":"3210984421"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9564905","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564905","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (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/A5008649529","display_name":"Dingrui Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I4210141776","display_name":"China XD Group (China)","ror":"https://ror.org/04ceqst84","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210141776"]},{"id":"https://openalex.org/I4210115513","display_name":"Xi\u2019an University","ror":"https://ror.org/01zzmf129","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210115513"]},{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dingrui Xue","raw_affiliation_strings":["School of information engineering, Chang&#x0027;an University, Xi&#x0027;an, Shaan Xi, China","an University, Xi&#x0027","an, Shaan Xi, China","School of information engineering, Chang&#x0027"],"affiliations":[{"raw_affiliation_string":"School of information engineering, Chang&#x0027;an University, Xi&#x0027;an, Shaan Xi, China","institution_ids":["https://openalex.org/I4210141776","https://openalex.org/I25355098"]},{"raw_affiliation_string":"an University, Xi&#x0027","institution_ids":["https://openalex.org/I4210115513"]},{"raw_affiliation_string":"an, Shaan Xi, China","institution_ids":[]},{"raw_affiliation_string":"School of information engineering, Chang&#x0027","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058661899","display_name":"Nan Yang","orcid":"https://orcid.org/0000-0002-2012-6861"},"institutions":[{"id":"https://openalex.org/I4210115513","display_name":"Xi\u2019an University","ror":"https://ror.org/01zzmf129","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210115513"]},{"id":"https://openalex.org/I4210141776","display_name":"China XD Group (China)","ror":"https://ror.org/04ceqst84","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210141776"]},{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Yang","raw_affiliation_strings":["School of information engineering, Chang&#x0027;an University, Xi&#x0027;an, Shaan Xi, China","an University, Xi&#x0027","School of information engineering, Chang&#x0027","an, Shaan Xi, China"],"affiliations":[{"raw_affiliation_string":"School of information engineering, Chang&#x0027;an University, Xi&#x0027;an, Shaan Xi, China","institution_ids":["https://openalex.org/I4210141776","https://openalex.org/I25355098"]},{"raw_affiliation_string":"an University, Xi&#x0027","institution_ids":["https://openalex.org/I4210115513"]},{"raw_affiliation_string":"School of information engineering, Chang&#x0027","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"an, Shaan Xi, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081266790","display_name":"Xiangmo Zhao","orcid":"https://orcid.org/0000-0002-0116-5988"},"institutions":[{"id":"https://openalex.org/I4210115513","display_name":"Xi\u2019an University","ror":"https://ror.org/01zzmf129","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210115513"]},{"id":"https://openalex.org/I4210141776","display_name":"China XD Group (China)","ror":"https://ror.org/04ceqst84","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210141776"]},{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangmo Zhao","raw_affiliation_strings":["School of information engineering, Chang&#x0027;an University, Xi&#x0027;an, Shaan Xi, China","School of information engineering, Chang&#x0027","an, Shaan Xi, China","an University, Xi&#x0027"],"affiliations":[{"raw_affiliation_string":"School of information engineering, Chang&#x0027;an University, Xi&#x0027;an, Shaan Xi, China","institution_ids":["https://openalex.org/I4210141776","https://openalex.org/I25355098"]},{"raw_affiliation_string":"School of information engineering, Chang&#x0027","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"an, Shaan Xi, China","institution_ids":[]},{"raw_affiliation_string":"an University, Xi&#x0027","institution_ids":["https://openalex.org/I4210115513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101949041","display_name":"Zhen Wang","orcid":"https://orcid.org/0000-0002-9573-2129"},"institutions":[{"id":"https://openalex.org/I4210141776","display_name":"China XD Group (China)","ror":"https://ror.org/04ceqst84","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210141776"]},{"id":"https://openalex.org/I4210115513","display_name":"Xi\u2019an University","ror":"https://ror.org/01zzmf129","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210115513"]},{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Wang","raw_affiliation_strings":["School of information engineering, Chang&#x0027;an University, Xi&#x0027;an, Shaan Xi, China","an, Shaan Xi, China","School of information engineering, Chang&#x0027","an University, Xi&#x0027"],"affiliations":[{"raw_affiliation_string":"School of information engineering, Chang&#x0027;an University, Xi&#x0027;an, Shaan Xi, China","institution_ids":["https://openalex.org/I4210141776","https://openalex.org/I25355098"]},{"raw_affiliation_string":"an, Shaan Xi, China","institution_ids":[]},{"raw_affiliation_string":"School of information engineering, Chang&#x0027","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"an University, Xi&#x0027","institution_ids":["https://openalex.org/I4210115513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5008649529"],"corresponding_institution_ids":["https://openalex.org/I25355098","https://openalex.org/I4210115513","https://openalex.org/I4210141776"],"apc_list":null,"apc_paid":null,"fwci":0.3578,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.55904683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2062","last_page":"2067"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987000226974487,"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":0.9962999820709229,"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"}},{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/cloud-computing","display_name":"Cloud computing","score":0.7752763032913208},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7371779084205627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7209104299545288},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6896535158157349},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5682826638221741},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5324441194534302},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5102102756500244},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4575670063495636},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4214213788509369},{"id":"https://openalex.org/keywords/interference","display_name":"Interference (communication)","score":0.4212470054626465},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3666938245296478},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3530135750770569},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2516240179538727},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.23692184686660767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16185393929481506},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1566494107246399}],"concepts":[{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.7752763032913208},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7371779084205627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7209104299545288},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6896535158157349},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5682826638221741},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5324441194534302},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5102102756500244},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4575670063495636},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4214213788509369},{"id":"https://openalex.org/C32022120","wikidata":"https://www.wikidata.org/wiki/Q797225","display_name":"Interference (communication)","level":3,"score":0.4212470054626465},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3666938245296478},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3530135750770569},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2516240179538727},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.23692184686660767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16185393929481506},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1566494107246399},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/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/itsc48978.2021.9564905","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564905","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1480005868","https://openalex.org/W1567242735","https://openalex.org/W1828186598","https://openalex.org/W1971843595","https://openalex.org/W2021063678","https://openalex.org/W2051701685","https://openalex.org/W2170662583","https://openalex.org/W2344109021","https://openalex.org/W2566265240","https://openalex.org/W2617994934","https://openalex.org/W2770104341","https://openalex.org/W2772140672","https://openalex.org/W2890986599","https://openalex.org/W2896675969","https://openalex.org/W2999416770","https://openalex.org/W3119783965"],"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/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"Constructing":[0],"and":[1,15,19,36,39,49,66,100,148],"updating":[2],"of":[3,17,51,56,61,97,105,150,183,203],"high-definition":[4],"(HD)":[5],"map,":[6],"especially":[7],"point-cloud":[8,73,114,128,160],"map":[9,74,161],"is":[10,26,108,194],"critical":[11],"to":[12,27,130,162,179,196],"the":[13,47,52,62,79,88,95,106,117,121,124,127,131,136,155,158,163,166,170,181,184,191],"deployment":[14],"promotion":[16],"connected":[18],"automated":[20],"vehicles":[21],"(CAVs).":[22],"The":[23,102,140],"prevailing":[24],"approach":[25,76,107,193],"collect":[28],"environmental":[29,113],"data":[30,33,115,129],"through":[31,116,135,169],"mobile":[32],"acquisition":[34],"equipment,":[35],"detect":[37],"changes":[38],"update.":[40],"Existing":[41],"studies":[42],"mainly":[43],"focus":[44],"on":[45,78,90,120],"improving":[46],"accuracy":[48,99],"efficiency":[50],"mapping":[53],"algorithm,":[54],"few":[55],"them":[57],"makes":[58],"full":[59],"use":[60],"cooperation":[63],"between":[64],"CAVs":[65],"road":[67],"infrastructures.":[68],"This":[69],"paper":[70],"proposes":[71],"a":[72,201],"update":[75],"based":[77],"cooperative":[80],"vehicle":[81],"infrastructure":[82],"system":[83],"(CVIS),":[84],"which":[85],"can":[86],"reduce":[87],"interference":[89],"ordinary":[91],"traffic":[92],"participants":[93],"under":[94],"premise":[96],"ensuring":[98],"efficiency.":[101],"main":[103],"process":[104],"as":[109],"follows.":[110],"First,":[111],"collecting":[112],"LiDAR":[118],"mounted":[119],"CAV.":[122],"Then,":[123],"CAV":[125,164],"sends":[126],"roadside":[132,141],"unit":[133,138,143],"(RSU)":[134],"on-board":[137],"(OBU).":[139],"computer":[142],"(RSCU)":[144],"performs":[145],"points":[146],"registration":[147],"comparison":[149],"cloud":[151],"data.":[152],"After":[153],"that,":[154],"RSCU":[156],"distributes":[157],"updated":[159],"within":[165,200],"communication":[167],"range":[168,202],"RSU.":[171],"In":[172],"addition,":[173],"corresponding":[174],"experiments":[175],"are":[176],"carried":[177],"out":[178],"verify":[180],"feasibility":[182],"proposed":[185,192],"approach.":[186],"Experiment":[187],"results":[188],"show":[189],"that":[190],"able":[195],"maintain":[197],"satisfactory":[198],"performance":[199],"at":[204],"least":[205],"500":[206],"meters.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
