{"id":"https://openalex.org/W3211006023","doi":"https://doi.org/10.1109/iv48863.2021.9575569","title":"Visual Localization for Autonomous Driving using Pre-built Point Cloud Maps","display_name":"Visual Localization for Autonomous Driving using Pre-built Point Cloud Maps","publication_year":2021,"publication_date":"2021-07-11","ids":{"openalex":"https://openalex.org/W3211006023","doi":"https://doi.org/10.1109/iv48863.2021.9575569","mag":"3211006023"},"language":"en","primary_location":{"id":"doi:10.1109/iv48863.2021.9575569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium (IV)","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/A5064413830","display_name":"Kento Yabuuchi","orcid":"https://orcid.org/0000-0002-6706-7416"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kento Yabuuchi","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110814049","display_name":"David Wong","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"David Robert Wong","raw_affiliation_strings":["Institute of Innovation for Future Society, Nagoya University, Japan","Tier IV Inc., Nagoya University Open Innovation Center, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Innovation for Future Society, Nagoya University, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Tier IV Inc., Nagoya University Open Innovation Center, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077549995","display_name":"Takeshi Ishita","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeshi Ishita","raw_affiliation_strings":["Tier IV Inc., Nagoya University Open Innovation Center, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tier IV Inc., Nagoya University Open Innovation Center, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051297775","display_name":"Yuki Kitsukawa","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Kitsukawa","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Japan","Map IV Inc., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Map IV Inc., Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101496340","display_name":"Shinpei Kato","orcid":"https://orcid.org/0000-0003-1782-5319"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinpei Kato","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Japan","Tier IV Inc., Nagoya University Open Innovation Center, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Tier IV Inc., Nagoya University Open Innovation Center, Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"913","last_page":"919"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9980000257492065,"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":0.8817261457443237},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7781375646591187},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7697361707687378},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7410321235656738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7216482162475586},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.6549583077430725},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5961675047874451},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5686427354812622},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5312461853027344},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5210282802581787},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.47114768624305725},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4672669470310211},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4149669110774994},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.21058455109596252},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19237056374549866},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1881747543811798},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1777651309967041},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.12032085657119751},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11797842383384705},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09756416082382202},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07274526357650757}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8817261457443237},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7781375646591187},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7697361707687378},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7410321235656738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7216482162475586},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.6549583077430725},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5961675047874451},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5686427354812622},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5312461853027344},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5210282802581787},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.47114768624305725},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4672669470310211},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4149669110774994},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.21058455109596252},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19237056374549866},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1881747543811798},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1777651309967041},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.12032085657119751},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11797842383384705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09756416082382202},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07274526357650757},{"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/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv48863.2021.9575569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2888038210","display_name":null,"funder_award_id":"JPMJCR19F3","funder_id":"https://openalex.org/F4320320907","funder_display_name":"Japan Science and Technology Corporation"}],"funders":[{"id":"https://openalex.org/F4320320907","display_name":"Japan Science and Technology Corporation","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2054969198","https://openalex.org/W2083624955","https://openalex.org/W2096143401","https://openalex.org/W2101805040","https://openalex.org/W2103420503","https://openalex.org/W2117228865","https://openalex.org/W2124313187","https://openalex.org/W2150066425","https://openalex.org/W2152864241","https://openalex.org/W2241066785","https://openalex.org/W2535547924","https://openalex.org/W2553603302","https://openalex.org/W2567328166","https://openalex.org/W2606189077","https://openalex.org/W2739624561","https://openalex.org/W2745859992","https://openalex.org/W2772036109","https://openalex.org/W2790141132","https://openalex.org/W2901136733","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2954297243","https://openalex.org/W2961619538","https://openalex.org/W2962856993","https://openalex.org/W2977977449","https://openalex.org/W3037010467","https://openalex.org/W3089607054","https://openalex.org/W3091332390","https://openalex.org/W3091701820","https://openalex.org/W3098064904","https://openalex.org/W3102327032","https://openalex.org/W3103957575","https://openalex.org/W3119052781","https://openalex.org/W3129245057","https://openalex.org/W6675606146","https://openalex.org/W6678941962","https://openalex.org/W6729999887","https://openalex.org/W6741832246","https://openalex.org/W6756486208","https://openalex.org/W6773251439","https://openalex.org/W6780411392"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423"],"abstract_inverted_index":{"This":[0],"paper":[1,101],"presents":[2],"a":[3,63],"vision-based":[4],"metric":[5],"localization":[6,43,104,155],"method":[7,41,120],"using":[8,107,121],"pre-built":[9],"point":[10,23,97,150],"cloud":[11,24,78,98,151],"maps.":[12],"Matching":[13],"the":[14,22,27,36,39,96,115,118,128,149,154],"3D":[15],"structures":[16],"reconstructed":[17],"by":[18,86],"visual":[19,49],"SLAM":[20,50],"to":[21,35,82],"map":[25,54,65,73,152],"resolves":[26],"accumulative":[28],"errors":[29],"and":[30,55,88,110,146],"scale":[31],"ambiguity.":[32],"In":[33],"addition":[34],"accuracy":[37,116],"improvement,":[38],"proposed":[40,119],"achieves":[42],"within":[44,59,62],"given":[45,64],"maps":[46,79],"while":[47],"ordinary":[48],"constructs":[51],"an":[52],"on-line":[53],"can":[56],"only":[57],"localize":[58],"this.":[60],"Localization":[61],"is":[66,105,131],"crucial":[67],"for":[68,157],"autonomous":[69],"driving,":[70],"where":[71],"various":[72,143],"types":[74],"are":[75,80],"employed.":[76],"Point":[77],"robust":[81],"appearance":[83],"changes":[84],"caused":[85],"illumination":[87],"seasonal":[89],"changes.":[90],"Once":[91],"LiDAR":[92],"sensors":[93],"have":[94],"built":[95],"maps,":[99],"this":[100],"demonstrates":[102],"that":[103,127,148],"possible":[106],"solely":[108],"low-cost":[109],"lightweight":[111],"cameras.":[112],"We":[113],"verified":[114],"of":[117],"real-world":[122],"datasets.":[123],"The":[124],"results":[125,156],"show":[126],"accumulated":[129],"error":[130],"suppressed":[132],"even":[133],"on":[134],"extended":[135],"vehicle":[136],"trajectories.":[137],"Also,":[138],"we":[139],"conducted":[140],"experiments":[141],"with":[142],"camera":[144],"configurations":[145],"confirmed":[147],"improved":[153],"all":[158],"configurations,":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
