{"id":"https://openalex.org/W4285813136","doi":"https://doi.org/10.1109/iv51971.2022.9827445","title":"On Uncertainty Quantification for Convolutional Neural Network LiDAR Localization","display_name":"On Uncertainty Quantification for Convolutional Neural Network LiDAR Localization","publication_year":2022,"publication_date":"2022-06-05","ids":{"openalex":"https://openalex.org/W4285813136","doi":"https://doi.org/10.1109/iv51971.2022.9827445"},"language":"en","primary_location":{"id":"doi:10.1109/iv51971.2022.9827445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827445","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","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 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/A5055276363","display_name":"Mathieu Joerger","orcid":"https://orcid.org/0000-0002-6391-9095"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mathieu Joerger","raw_affiliation_strings":["Virginia Polytechnic Institute and State University (Virginia Tech),Kevin T. Crofton Department of Aerospace and Ocean Engineering,Blacksburg,VA,USA,24061"],"affiliations":[{"raw_affiliation_string":"Virginia Polytechnic Institute and State University (Virginia Tech),Kevin T. Crofton Department of Aerospace and Ocean Engineering,Blacksburg,VA,USA,24061","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073000065","display_name":"Julian Wang","orcid":"https://orcid.org/0000-0002-3056-5569"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Julian Wang","raw_affiliation_strings":["Virginia Tech,Kevin T. Crofton Department of Aerospace and Ocean Engineering,Blacksburg,VA,USA,24061"],"affiliations":[{"raw_affiliation_string":"Virginia Tech,Kevin T. Crofton Department of Aerospace and Ocean Engineering,Blacksburg,VA,USA,24061","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023811425","display_name":"Ali Hassani","orcid":"https://orcid.org/0000-0003-2420-1299"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali Hassani","raw_affiliation_strings":["Virginia Tech,Kevin T. Crofton Department of Aerospace and Ocean Engineering,Blacksburg,VA,USA,24061"],"affiliations":[{"raw_affiliation_string":"Virginia Tech,Kevin T. Crofton Department of Aerospace and Ocean Engineering,Blacksburg,VA,USA,24061","institution_ids":["https://openalex.org/I859038795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5055276363"],"corresponding_institution_ids":["https://openalex.org/I859038795"],"apc_list":null,"apc_paid":null,"fwci":1.3908,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81694603,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1789","last_page":"1794"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.998199999332428,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/lidar","display_name":"Lidar","score":0.9569386839866638},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.7622116804122925},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7615262269973755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7491915225982666},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6019226312637329},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5943171977996826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5918904542922974},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5226942300796509},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.5008759498596191},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.44747114181518555},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.43109598755836487},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12054997682571411},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11804667115211487},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08454108238220215}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9569386839866638},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.7622116804122925},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7615262269973755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7491915225982666},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6019226312637329},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5943171977996826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5918904542922974},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5226942300796509},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.5008759498596191},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.44747114181518555},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.43109598755836487},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12054997682571411},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11804667115211487},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08454108238220215},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv51971.2022.9827445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827445","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","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 Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W582134693","https://openalex.org/W1479814506","https://openalex.org/W2009345891","https://openalex.org/W2021063678","https://openalex.org/W2414542138","https://openalex.org/W2600383743","https://openalex.org/W2751232655","https://openalex.org/W2782397759","https://openalex.org/W2890955732","https://openalex.org/W2891998654","https://openalex.org/W2895985752","https://openalex.org/W2899117197","https://openalex.org/W2904024822","https://openalex.org/W2922326277","https://openalex.org/W2955544543","https://openalex.org/W2977721528","https://openalex.org/W2979616766","https://openalex.org/W3102000273","https://openalex.org/W3106467141","https://openalex.org/W3111859331","https://openalex.org/W3167705651","https://openalex.org/W3205841801","https://openalex.org/W4213057846","https://openalex.org/W6617145748","https://openalex.org/W6735443497","https://openalex.org/W6755668676"],"related_works":["https://openalex.org/W4214729122","https://openalex.org/W3080305507","https://openalex.org/W2391506322","https://openalex.org/W2189250119","https://openalex.org/W4327778814","https://openalex.org/W2272572439","https://openalex.org/W2746940507","https://openalex.org/W2543661874","https://openalex.org/W2030080266","https://openalex.org/W3096213782"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,34],"develop":[4],"and":[5,14,43,61],"evaluate":[6],"a":[7,36,40,54,63,68,84,90,95],"Convolutional":[8],"Neural":[9],"Network":[10],"(CNN)-based":[11],"Light":[12],"Detection":[13],"Ranging":[15],"(LiDAR)":[16],"localization":[17],"algorithm":[18],"that":[19],"includes":[20],"uncertainty":[21],"quantification":[22],"for":[23,66],"ground":[24],"vehicle":[25],"navigation.":[26],"This":[27,51],"paper":[28,52],"builds":[29],"upon":[30],"prior":[31],"research":[32],"where":[33],"used":[35],"CNN":[37],"to":[38,73],"estimate":[39],"rover\u2019s":[41],"position":[42],"orientation":[44],"(pose)":[45],"using":[46,89],"LiDAR":[47,58],"point":[48],"clouds":[49],"(PCs).":[50],"presents":[53],"simplification":[55],"of":[56],"the":[57,74],"PC":[59],"processing":[60],"describes":[62],"new":[64],"approach":[65],"outputting":[67],"covariance":[69],"matrix":[70],"in":[71,83],"addition":[72],"rover":[75,92],"pose":[76],"estimates.":[77],"Performance":[78],"assessment":[79],"is":[80],"carried":[81],"out":[82],"structured,":[85],"static":[86],"lab":[87],"environment":[88],"LiDAR-equipped":[91],"moving":[93],"along":[94],"fixed,":[96],"repeated":[97],"trajectory.":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
