{"id":"https://openalex.org/W3208653272","doi":"https://doi.org/10.1109/iv48863.2021.9575656","title":"Fast Initialization for Monocular Map Matching Localization via Multi-lane Hypotheses in Highway Scenarios","display_name":"Fast Initialization for Monocular Map Matching Localization via Multi-lane Hypotheses in Highway Scenarios","publication_year":2021,"publication_date":"2021-07-11","ids":{"openalex":"https://openalex.org/W3208653272","doi":"https://doi.org/10.1109/iv48863.2021.9575656","mag":"3208653272"},"language":"en","primary_location":{"id":"doi:10.1109/iv48863.2021.9575656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575656","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":"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/A5020028921","display_name":"Tuopu Wen","orcid":"https://orcid.org/0000-0002-3093-765X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tuopu Wen","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086126475","display_name":"Benny Wijaya","orcid":"https://orcid.org/0000-0002-4691-4284"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Benny Wijaya","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100786441","display_name":"Kun Jiang","orcid":"https://orcid.org/0000-0003-4995-7244"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Jiang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102553362","display_name":"Dongfang Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongfang Zheng","raw_affiliation_strings":["Tencent America. Dongsheng Yang is with Tencent"],"affiliations":[{"raw_affiliation_string":"Tencent America. Dongsheng Yang is with Tencent","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101724345","display_name":"Yiliang Xu","orcid":"https://orcid.org/0000-0002-7714-0760"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiliang Xu","raw_affiliation_strings":["Tencent America. Dongsheng Yang is with Tencent"],"affiliations":[{"raw_affiliation_string":"Tencent America. Dongsheng Yang is with Tencent","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051379163","display_name":"Dongsheng Yang","orcid":"https://orcid.org/0000-0002-1721-860X"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongsheng Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","Tencent America. Dongsheng Yang is with Tencent"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Tencent America. Dongsheng Yang is with Tencent","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014512074","display_name":"Mengmeng Yang","orcid":"https://orcid.org/0000-0002-3294-6437"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengmeng Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009072257","display_name":"Diange Yang","orcid":"https://orcid.org/0000-0003-0825-5609"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Diange Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","Tencent America. Dongsheng Yang is with Tencent"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Tencent America. Dongsheng Yang is with Tencent","institution_ids":["https://openalex.org/I2250653659"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5020028921"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.15551807,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2015 june","issue":null,"first_page":"897","last_page":"904"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9987999796867371,"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.9447654485702515},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.8062781095504761},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7328049540519714},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6893096566200256},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.620055615901947},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.6027587056159973},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5452734231948853},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49698522686958313},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4298827648162842},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.42521148920059204},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.41616740822792053},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39316701889038086},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3769482970237732},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2904629111289978},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.2749648690223694},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18086937069892883},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1445644199848175}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.9447654485702515},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8062781095504761},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7328049540519714},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6893096566200256},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.620055615901947},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.6027587056159973},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5452734231948853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49698522686958313},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4298827648162842},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.42521148920059204},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.41616740822792053},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39316701889038086},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3769482970237732},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2904629111289978},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2749648690223694},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18086937069892883},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1445644199848175},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"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/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv48863.2021.9575656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575656","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G7458066130","display_name":null,"funder_award_id":"U1864203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1479814506","https://openalex.org/W1556546299","https://openalex.org/W1923361146","https://openalex.org/W2009139002","https://openalex.org/W2060061906","https://openalex.org/W2100237490","https://openalex.org/W2101805040","https://openalex.org/W2122556364","https://openalex.org/W2151477068","https://openalex.org/W2566950583","https://openalex.org/W2740634181","https://openalex.org/W2741174480","https://openalex.org/W2766127076","https://openalex.org/W2770866044","https://openalex.org/W2808708240","https://openalex.org/W2894245906","https://openalex.org/W2905414638","https://openalex.org/W2963786102","https://openalex.org/W2979423664","https://openalex.org/W2980043779","https://openalex.org/W2991165692","https://openalex.org/W3003178336","https://openalex.org/W3034701432","https://openalex.org/W3091198895","https://openalex.org/W3103406720","https://openalex.org/W3132498603","https://openalex.org/W6628712700","https://openalex.org/W6678276302","https://openalex.org/W6769184539"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W1985458517","https://openalex.org/W2364521460","https://openalex.org/W2385361142","https://openalex.org/W2104082983","https://openalex.org/W2358919855","https://openalex.org/W2023784850","https://openalex.org/W2056465299","https://openalex.org/W1987769520"],"abstract_inverted_index":{"Many":[0],"researchers":[1],"have":[2,191],"used":[3],"the":[4,26,35,43,53,58,64,67,78,83,133,137,141,146,172,178,193],"map-matching":[5,27,159],"algorithm":[6,28],"to":[7,34,56,74,92,98,111,130,140,160,170,176],"leverage":[8],"inadequate":[9],"traditional":[10],"vehicle":[11,20],"localization":[12],"with":[13,85],"HD":[14],"maps":[15],"for":[16,181],"fast":[17],"and":[18,81,95,201],"efficient":[19,158],"localization.":[21],"The":[22,70],"initialization":[23,68,84,183],"process":[24],"in":[25,100,198],"has":[29],"always":[30],"been":[31],"problematic":[32],"due":[33],"nature":[36],"of":[37,47,66,116,143],"GNSS":[38,54,79,147],"error,":[39],"which":[40],"might":[41],"exceed":[42],"average":[44],"lane":[45],"width":[46],"approximately":[48],"3.5m.":[49],"Thus,":[50],"directly":[51],"using":[52],"data":[55,80],"obtain":[57],"rough":[59],"initial":[60,117],"pose":[61,139,163],"may":[62],"cause":[63],"failure":[65],"process.":[69],"general":[71],"solution":[72],"is":[73,109,174],"randomly":[75],"sample":[76,138],"around":[77],"test":[82],"these":[86,152,162],"hypotheses.":[87],"However,":[88],"this":[89],"often":[90],"leads":[91],"expensive":[93],"computation":[94],"thus":[96],"fails":[97],"run":[99],"realtime":[101],"or":[102],"online":[103],"mode,":[104],"as":[105],"a":[106,121,126,166],"dense":[107],"sampling":[108,196],"required":[110],"achieve":[112],"an":[113,157],"acceptable":[114],"level":[115],"estimation":[118],"accuracy.":[119],"As":[120],"viable":[122],"alternative,":[123],"we":[124,154,190],"propose":[125],"multi-lane":[127],"hypotheses":[128],"approach":[129],"narrow":[131],"down":[132],"search":[134],"by":[135],"limiting":[136],"number":[142],"lanes":[144],"within":[145],"data's":[148],"error":[149],"radius.":[150],"From":[151],"poses,":[153],"then":[155],"perform":[156],"refine":[161],"candidates.":[164],"Moreover,":[165],"novel":[167],"belief":[168],"function":[169],"evaluate":[171],"hypothesis":[173,180],"proposed":[175],"select":[177],"best":[179],"system":[182],"robustly.":[184],"Our":[185],"evaluation":[186],"result":[187],"shows":[188],"that":[189],"outperformed":[192],"primary":[194],"random":[195],"method":[197],"both":[199],"accuracy":[200],"efficiency.":[202]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}