{"id":"https://openalex.org/W4408696336","doi":"https://doi.org/10.1109/itsc58415.2024.10920221","title":"HD-Maps as Prior Information for Globally Consistent Mapping in GPS-Denied Environments","display_name":"HD-Maps as Prior Information for Globally Consistent Mapping in GPS-Denied Environments","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4408696336","doi":"https://doi.org/10.1109/itsc58415.2024.10920221"},"language":"en","primary_location":{"id":"doi:10.1109/itsc58415.2024.10920221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10920221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th 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/A5040883902","display_name":"Ali Waqas","orcid":"https://orcid.org/0000-0002-0710-5898"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Waqas Ali","raw_affiliation_strings":["Perception, and Learning (RPL), KTH Royal Institute of Technology,Authors are with the Division of Robotics,Stockholm,Sweden,114 28"],"affiliations":[{"raw_affiliation_string":"Perception, and Learning (RPL), KTH Royal Institute of Technology,Authors are with the Division of Robotics,Stockholm,Sweden,114 28","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["Perception, and Learning (RPL), KTH Royal Institute of Technology,Authors are with the Division of Robotics,Stockholm,Sweden,114 28"],"affiliations":[{"raw_affiliation_string":"Perception, and Learning (RPL), KTH Royal Institute of Technology,Authors are with the Division of Robotics,Stockholm,Sweden,114 28","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084760653","display_name":"Thien\u2010Minh Nguyen","orcid":"https://orcid.org/0000-0003-1315-0967"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Thien-Minh Nguyen","raw_affiliation_strings":["Thien-Minh Nguyen is with Centre for Advanced Robotics Technology Innovation (CARTIN), Nanyang Technological University,Nanyang Ave,Singapore,50"],"affiliations":[{"raw_affiliation_string":"Thien-Minh Nguyen is with Centre for Advanced Robotics Technology Innovation (CARTIN), Nanyang Technological University,Nanyang Ave,Singapore,50","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040883902"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.2635,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.60581972,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2145","last_page":"2151"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12698","display_name":"3D Modeling in Geospatial Applications","score":0.9768000245094299,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12698","display_name":"3D Modeling in Geospatial Applications","score":0.9768000245094299,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9616000056266785,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.8257486820220947},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6020256876945496},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.0620083212852478}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.8257486820220947},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6020256876945496},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0620083212852478}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc58415.2024.10920221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10920221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1541250175","https://openalex.org/W1567242735","https://openalex.org/W1968315983","https://openalex.org/W1989750313","https://openalex.org/W1996111598","https://openalex.org/W2021851106","https://openalex.org/W2023259872","https://openalex.org/W2104655143","https://openalex.org/W2134822252","https://openalex.org/W2147357829","https://openalex.org/W2277848489","https://openalex.org/W2544782254","https://openalex.org/W2567520225","https://openalex.org/W2736326701","https://openalex.org/W2737444374","https://openalex.org/W2890764146","https://openalex.org/W2909908358","https://openalex.org/W3089503906","https://openalex.org/W3129245057","https://openalex.org/W3132401233","https://openalex.org/W3133648073","https://openalex.org/W3200664388","https://openalex.org/W3201923677","https://openalex.org/W4200012990","https://openalex.org/W4205574455","https://openalex.org/W4210423514","https://openalex.org/W4213015607","https://openalex.org/W4311463255","https://openalex.org/W4321194448","https://openalex.org/W4402727356","https://openalex.org/W6685664056","https://openalex.org/W6801880476","https://openalex.org/W6803051699"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W3162200841","https://openalex.org/W2586280620","https://openalex.org/W2805505483","https://openalex.org/W2334071950","https://openalex.org/W2384744344","https://openalex.org/W4233932308","https://openalex.org/W1799694159"],"abstract_inverted_index":{"In":[0,157],"recent":[1],"years,":[2],"prior":[3,16],"maps":[4,17,29],"have":[5],"become":[6],"a":[7,41,61,97,124,142,155,168,171],"mainstream":[8],"tool":[9],"in":[10,54,133,150,183],"autonomous":[11,55,158],"navigation.":[12],"However,":[13],"commonly":[14],"available":[15],"are":[18,86],"still":[19],"tailored":[20],"to":[21,63,78,95,117,122,127,186],"control-and-decision":[22],"tasks,":[23],"and":[24,44,70,178],"the":[25,51,67,76,91,110,114,129,164,184],"use":[26],"of":[27,75,113,148],"these":[28],"for":[30],"localization":[31,43],"remains":[32],"largely":[33],"unexplored.":[34],"To":[35],"bridge":[36],"this":[37,160],"gap,":[38],"we":[39,59],"propose":[40,60],"lidar-based":[42],"mapping":[45],"(LOAM)":[46],"system":[47],"that":[48,104],"can":[49,107],"exploit":[50],"common":[52],"HD-maps":[53,77,165],"driving":[56,159],"scenarios.":[57],"Specifically,":[58],"technique":[62],"extract":[64],"information":[65],"from":[66,170,181],"drivable":[68],"area":[69],"ground":[71],"surface":[72],"height":[73],"components":[74],"construct":[79],"4DOF":[80],"pose":[81,84],"priors.":[82],"These":[83],"priors":[85],"then":[87],"further":[88],"integrated":[89],"into":[90],"pose-graph":[92],"optimization":[93],"problem":[94],"create":[96],"globally":[98],"consistent":[99],"3D":[100],"map.":[101,156,188],"Experiments":[102],"show":[103],"our":[105,137],"scheme":[106],"significantly":[108],"improve":[109],"global":[111],"consistency":[112],"map":[115],"compared":[116],"state-of-the-art":[118],"lidar-only":[119],"approaches,":[120],"proven":[121],"be":[123],"useful":[125],"technology":[126],"enhance":[128],"system's":[130],"robustness,":[131],"especially":[132],"GPS-denied":[134],"environment.":[135],"Moreover,":[136],"work":[138],"also":[139],"serves":[140],"as":[141],"first":[143],"step":[144],"towards":[145],"longterm":[146],"navigation":[147],"robots":[149],"familiar":[151],"environment,":[152],"by":[153],"updating":[154,163],"could":[161],"enable":[162],"without":[166],"sourcing":[167],"new":[169],"third":[172],"party":[173],"company,":[174],"which":[175],"is":[176],"expensive":[177],"introduces":[179],"delays":[180],"change":[182],"world":[185],"updated":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
