{"id":"https://openalex.org/W4308068477","doi":"https://doi.org/10.1109/itsc55140.2022.9921969","title":"Exploring the Effect of 3D Object Removal using Deep Learning for LiDAR-based Mapping and Long-term Vehicular Localization","display_name":"Exploring the Effect of 3D Object Removal using Deep Learning for LiDAR-based Mapping and Long-term Vehicular Localization","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308068477","doi":"https://doi.org/10.1109/itsc55140.2022.9921969"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9921969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921969","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th 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/A5100405128","display_name":"Yifan Chen","orcid":"https://orcid.org/0000-0001-8060-8216"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Yifan Chen","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore","Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100343241","display_name":"Shuo Sun","orcid":"https://orcid.org/0000-0002-8432-0452"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shuo Sun","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore","Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024862094","display_name":"Huan Yin","orcid":"https://orcid.org/0000-0002-0872-8202"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Huan Yin","raw_affiliation_strings":["National University of Singapore,Department of Civil and Environmental Engineering,Singapore","Department of Civil and Environmental Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Civil and Environmental Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Civil and Environmental Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore","Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100405128"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":1.387,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.82778005,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1730","last_page":"1735"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9986000061035156,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.833838939666748},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.765799880027771},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7182436585426331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7021805644035339},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6830263137817383},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6765791773796082},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6548475027084351},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5925984382629395},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4552310109138489},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4341431260108948},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3436376452445984},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3345453143119812},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.19106987118721008},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18073758482933044}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.833838939666748},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.765799880027771},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7182436585426331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7021805644035339},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6830263137817383},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6765791773796082},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6548475027084351},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5925984382629395},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4552310109138489},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4341431260108948},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3436376452445984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3345453143119812},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.19106987118721008},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18073758482933044},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc55140.2022.9921969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921969","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-125103","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=&rft.volume=&rft.issue=&rft.date=2022&rft.spage=&rft.aulast=Chen&rft.aufirst=Yifan&rft.atitle=Exploring+the+Effect+of+3D+Object+Removal+using+Deep+Learning+for+LiDAR-based+Mapping+and+Long-term+Vehicular+Localization&rft.title=","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8399999737739563}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1659416099","https://openalex.org/W1973080743","https://openalex.org/W2083624955","https://openalex.org/W2103420503","https://openalex.org/W2128873520","https://openalex.org/W2130763585","https://openalex.org/W2133844819","https://openalex.org/W2150066425","https://openalex.org/W2277848489","https://openalex.org/W2296228853","https://openalex.org/W2461937780","https://openalex.org/W2750632489","https://openalex.org/W2790141132","https://openalex.org/W2809605404","https://openalex.org/W2914821954","https://openalex.org/W2940793188","https://openalex.org/W2968296999","https://openalex.org/W2997522185","https://openalex.org/W3003437478","https://openalex.org/W3004274804","https://openalex.org/W3089607054","https://openalex.org/W3106084381","https://openalex.org/W3124420883","https://openalex.org/W3133309409","https://openalex.org/W3207941059","https://openalex.org/W4205166093","https://openalex.org/W4236965008","https://openalex.org/W6675606146","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W4223437202","https://openalex.org/W4313289016","https://openalex.org/W2116298349","https://openalex.org/W2554592351","https://openalex.org/W2734306012","https://openalex.org/W2028864324","https://openalex.org/W2019203251","https://openalex.org/W2134943711","https://openalex.org/W2032661508","https://openalex.org/W2982578609"],"abstract_inverted_index":{"The":[0],"construction":[1],"of":[2,136],"a":[3,15,23,98,127],"3D":[4],"point":[5,129],"cloud":[6,130],"map":[7],"for":[8,57],"long-term":[9,58,137],"vehicle":[10,138],"localization":[11],"has":[12],"always":[13],"been":[14],"challenge":[16],"in":[17,50,68],"the":[18,44,51,73,103,106,112,119,122,134],"autonomous":[19],"driving":[20],"community.":[21],"In":[22,102],"highly":[24],"dynamic":[25,76],"urban":[26],"environment,":[27],"Simultaneous":[28],"Localization":[29],"and":[30,41,88,92],"Mapping":[31],"(SLAM)":[32],"systems":[33,70],"can":[34,125],"be":[35],"heavily":[36],"affected":[37],"by":[38],"non-permanent":[39],"objects":[40,77,90],"features":[42],"during":[43],"mapping":[45],"process,":[46],"leaving":[47],"undesired":[48],"noise":[49],"final":[52],"map,":[53,131],"which":[54],"is":[55,109],"redundant":[56],"application.":[59],"This":[60],"paper":[61],"explores":[62],"applying":[63],"object":[64],"detection":[65],"neural":[66],"networks":[67],"SLAM":[69],"to":[71,86,96],"reduce":[72],"effect":[74],"from":[75],"(e.g.,":[78],"vehicles,":[79],"pedestrians,":[80],"cyclists).":[81],"Specifically,":[82],"we":[83],"use":[84],"Point-Pillars":[85],"detect":[87],"remove":[89],"first":[91],"then":[93],"perform":[94],"LOAM":[95],"achieve":[97],"more":[99],"static":[100,128],"mapping.":[101],"experimental":[104],"section,":[105],"proposed":[107,123],"method":[108,124],"validated":[110],"on":[111],"public":[113],"KITTI":[114],"Odometry":[115],"dataset.":[116],"Compared":[117],"with":[118],"original":[120],"LOAM,":[121],"provide":[126],"thus":[132],"improving":[133],"robustness":[135],"applications.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
