{"id":"https://openalex.org/W4391793366","doi":"https://doi.org/10.1109/itsc57777.2023.10422196","title":"Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles","display_name":"Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391793366","doi":"https://doi.org/10.1109/itsc57777.2023.10422196"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422196","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th 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/A5102087688","display_name":"Xi Tao Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Xi Zheng","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong","Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045346492","display_name":"Weisong Wen","orcid":"https://orcid.org/0000-0003-4158-0913"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Weisong Wen","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong","Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044957601","display_name":"Li\u2010Ta Hsu","orcid":"https://orcid.org/0000-0002-0352-741X"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Li-Ta Hsu","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong","Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102087688"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":1.5109,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.89707298,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6019","last_page":"6026"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.994700014591217,"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":0.994700014591217,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9692000150680542,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.968999981880188,"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":0.7078975439071655},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6958483457565308},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6844964027404785},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.616344690322876},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5045479536056519},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4940369725227356},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3568930923938751},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3226380944252014},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07499492168426514}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7078975439071655},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6958483457565308},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6844964027404785},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.616344690322876},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5045479536056519},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4940369725227356},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3568930923938751},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3226380944252014},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07499492168426514},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422196","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2008849352","https://openalex.org/W2021851106","https://openalex.org/W2054969198","https://openalex.org/W2057488855","https://openalex.org/W2097543505","https://openalex.org/W2117005311","https://openalex.org/W2137813581","https://openalex.org/W2396274919","https://openalex.org/W2535547924","https://openalex.org/W2567328166","https://openalex.org/W2740634181","https://openalex.org/W2745859992","https://openalex.org/W2796916234","https://openalex.org/W2908167297","https://openalex.org/W2924063228","https://openalex.org/W2931310555","https://openalex.org/W2954297243","https://openalex.org/W2968125992","https://openalex.org/W3035759925","https://openalex.org/W3037010467","https://openalex.org/W3091332390","https://openalex.org/W3098064904","https://openalex.org/W3102327032","https://openalex.org/W3129245057","https://openalex.org/W3130129454","https://openalex.org/W3138764046","https://openalex.org/W3206741876","https://openalex.org/W3210095908","https://openalex.org/W3211006023","https://openalex.org/W4200190681","https://openalex.org/W4210423514","https://openalex.org/W4225585096","https://openalex.org/W4285109488","https://openalex.org/W4308079995","https://openalex.org/W4310421253","https://openalex.org/W6745935785","https://openalex.org/W6847191620"],"related_works":["https://openalex.org/W2068608913","https://openalex.org/W3124914020","https://openalex.org/W2141033859","https://openalex.org/W2077542787","https://openalex.org/W2156434174","https://openalex.org/W2071701083","https://openalex.org/W2383687187","https://openalex.org/W2070401501","https://openalex.org/W2121496884","https://openalex.org/W4386159726"],"abstract_inverted_index":{"Visual-inertial":[0],"navigation":[1,28],"system":[2,29],"(VINS)":[3],"is":[4,30,68,122,150],"widely":[5],"used":[6],"for":[7],"autonomous":[8],"platforms":[9],"but":[10],"suffers":[11],"from":[12],"drifting":[13],"over":[14],"a":[15,22,43,111,116],"long":[16],"time.":[17],"To":[18,51],"remedy":[19],"this":[20,33,137],"situation,":[21],"lightweight":[23,44],"3D":[24,48,56],"prior":[25,45],"map-aided":[26],"visual-inertial":[27,39],"presented":[31],"in":[32,77,86,97,110],"paper,":[34],"which":[35,130],"tightly":[36,112],"couples":[37],"the":[38,53,61,90,98,105,134,141,147,169],"data":[40,88],"stream":[41],"with":[42],"map":[46],"involving":[47],"line":[49,66,84,91,118],"information.":[50],"fill":[52],"gaps":[54],"between":[55],"maps":[57],"and":[58,82,102,126,160],"2D":[59],"images,":[60],"mutual":[62],"geometric":[63],"feature":[64,119],"of":[65,75,136,146],"segments":[67],"utilized":[69,94],"to":[70,104,124],"connect":[71],"these":[72],"two":[73,87],"types":[74],"information":[76],"different":[78],"dimensions.":[79],"By":[80],"detecting":[81],"matching":[83],"features":[85],"sources,":[89],"pairs":[92],"are":[93],"as":[95],"constraints":[96],"nonlinear":[99],"optimization":[100],"model":[101],"added":[103],"existing":[106],"factor":[107],"graph":[108],"framework":[109],"coupled":[113],"form.":[114],"Meanwhile,":[115],"fast":[117],"tracking":[120],"strategy":[121],"employed":[123],"monitor":[125],"remove":[127],"extreme":[128],"outliers,":[129],"will":[131],"further":[132],"improve":[133],"reliability":[135],"structural":[138],"characteristic":[139],"during":[140],"cross-modality":[142],"localization.":[143],"The":[144],"effectiveness":[145],"proposed":[148],"method":[149],"evaluated":[151],"by":[152,168],"public":[153],"indoor":[154],"unmanned":[155,162],"aerial":[156],"vehicles":[157,164],"(UAV)":[158],"datasets,":[159],"outdoor":[161],"ground":[163],"(UGV)":[165],"datasets":[166],"generated":[167],"CARLA":[170],"simulator.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
