{"id":"https://openalex.org/W2163704618","doi":"https://doi.org/10.1109/ivs.2011.5940504","title":"Visual topometric localization","display_name":"Visual topometric localization","publication_year":2011,"publication_date":"2011-06-01","ids":{"openalex":"https://openalex.org/W2163704618","doi":"https://doi.org/10.1109/ivs.2011.5940504","mag":"2163704618"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2011.5940504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2011.5940504","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5077152821","display_name":"Hern\u00e1n Badino","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"H. Badino","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035303223","display_name":"Daniel Huber","orcid":"https://orcid.org/0000-0001-8832-4488"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Huber","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057924291","display_name":"Takeo Kanade","orcid":"https://orcid.org/0000-0002-6267-6853"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. Kanade","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5077152821"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":201.824,"has_fulltext":false,"cited_by_count":143,"citation_normalized_percentile":{"value":0.99943645,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"794","last_page":"799"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9994999766349792,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9983000159263611,"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/global-positioning-system","display_name":"Global Positioning System","score":0.6974519491195679},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6756958365440369},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.654879629611969},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.6302529573440552},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5826155543327332},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5537942051887512},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5444672107696533},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5299371480941772},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5260558128356934},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4405992329120636},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.43909403681755066},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4373822510242462},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.43138885498046875},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4244704842567444},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.42104610800743103},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.41858595609664917},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.41714441776275635},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.3171572983264923},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22444167733192444},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16719940304756165},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12338954210281372},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10787621140480042},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09668335318565369}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6974519491195679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6756958365440369},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.654879629611969},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.6302529573440552},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5826155543327332},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5537942051887512},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5444672107696533},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5299371480941772},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5260558128356934},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4405992329120636},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.43909403681755066},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4373822510242462},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.43138885498046875},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4244704842567444},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.42104610800743103},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.41858595609664917},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.41714441776275635},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.3171572983264923},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22444167733192444},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16719940304756165},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12338954210281372},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10787621140480042},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09668335318565369},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ivs.2011.5940504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2011.5940504","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.206.5371","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.206.5371","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2011/6/IV2011.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.329.2270","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.329.2270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.lelaps.de/papers/badino_iv11.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323103","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W85270780","https://openalex.org/W170770739","https://openalex.org/W1533496907","https://openalex.org/W1677409904","https://openalex.org/W2027686373","https://openalex.org/W2097771816","https://openalex.org/W2099353192","https://openalex.org/W2116191958","https://openalex.org/W2120042635","https://openalex.org/W2121806728","https://openalex.org/W2133048394","https://openalex.org/W2136801456","https://openalex.org/W2137204431","https://openalex.org/W2144652450","https://openalex.org/W2151103935","https://openalex.org/W2154844948","https://openalex.org/W2170353401","https://openalex.org/W2406067508","https://openalex.org/W6603425902","https://openalex.org/W6631946989","https://openalex.org/W6637400245","https://openalex.org/W6675035919","https://openalex.org/W6682431704"],"related_works":["https://openalex.org/W1535005230","https://openalex.org/W4292862563","https://openalex.org/W2074515009","https://openalex.org/W2970243024","https://openalex.org/W4324290685","https://openalex.org/W4385444244","https://openalex.org/W2154461499","https://openalex.org/W2972219788","https://openalex.org/W2786306966","https://openalex.org/W2546942002"],"abstract_inverted_index":{"One":[0],"of":[1,5,57,72,99,138,165,179],"the":[2,10,69,73,92,128,141,145,177],"fundamental":[3],"requirements":[4],"an":[6,148,153,161],"autonomous":[7],"vehicle":[8,45,103,131],"is":[9,88],"ability":[11],"to":[12,21,67,109,126],"determine":[13],"its":[14],"location":[15],"on":[16,26,48,176],"a":[17,41,55,97,122,136],"map.":[18],"Frequently,":[19],"solutions":[20],"this":[22,37,110,169],"localization":[23,46,163],"problem":[24],"rely":[25],"GPS":[27],"information":[28,80],"or":[29],"use":[30],"expensive":[31],"three":[32],"dimensional":[33],"(3D)":[34],"sensors.":[35],"In":[36],"paper,":[38],"we":[39,63,120],"describe":[40],"method":[42,159],"for":[43,82],"long-term":[44],"based":[47],"visual":[49,100],"features":[50,108],"alone.":[51],"Our":[52],"approach":[53,146],"utilizes":[54],"combination":[56],"topological":[58],"and":[59,95,155],"metric":[60,79],"mapping,":[61],"which":[62],"call":[64],"topometric":[65,86],"localization,":[66],"encode":[68],"coarse":[70],"topology":[71],"route":[74,93,151],"as":[75,77],"well":[76],"detailed":[78],"required":[81],"accurate":[83],"localization.":[84],"A":[85],"map":[87],"created":[89],"by":[90,106],"driving":[91],"once":[94],"recording":[96],"database":[98,111],"features.":[101],"The":[102,158],"then":[104],"localizes":[105],"matching":[107],"at":[112],"runtime.":[113],"Since":[114],"individual":[115],"feature":[116],"matches":[117],"are":[118],"unreliable,":[119],"employ":[121],"discrete":[123],"Bayes":[124],"filter":[125],"estimate":[127],"most":[129],"likely":[130],"position":[132],"using":[133,147],"evidence":[134],"from":[135],"sequence":[137],"images":[139],"along":[140],"route.":[142],"We":[143],"illustrate":[144],"8.8":[149],"km":[150],"through":[152],"urban":[154],"suburban":[156],"environment.":[157],"achieves":[160],"average":[162],"error":[164],"2.7":[166],"m":[167],"over":[168],"route,":[170],"with":[171],"isolated":[172],"worst":[173],"case":[174],"errors":[175],"order":[178],"10":[180],"m.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":24},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":6}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}