{"id":"https://openalex.org/W2742107142","doi":"https://doi.org/10.1109/ivs.2017.7995900","title":"Robust localization using 3D NDT scan matching with experimentally determined uncertainty and road marker matching","display_name":"Robust localization using 3D NDT scan matching with experimentally determined uncertainty and road marker matching","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2742107142","doi":"https://doi.org/10.1109/ivs.2017.7995900","mag":"2742107142"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2017.7995900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995900","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5049328132","display_name":"Naoki Akai","orcid":"https://orcid.org/0000-0002-4883-080X"},"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":true,"raw_author_name":"Naoki Akai","raw_affiliation_strings":["Institute of Innovation for Future Society (MIRAI), Nagoya University, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Innovation for Future Society (MIRAI), Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053862446","display_name":"Luis Yoichi Morales","orcid":"https://orcid.org/0000-0002-3763-1469"},"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":"Luis Yoichi Morales","raw_affiliation_strings":["Institute of Innovation for Future Society (MIRAI), Nagoya University, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Innovation for Future Society (MIRAI), Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113688124","display_name":"Eijiro Takeuchi","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":"Eijiro Takeuchi","raw_affiliation_strings":["Graduate School of Information Science, Nagoya University, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110519343","display_name":"Yuki Yoshihara","orcid":"https://orcid.org/0009-0009-8841-3064"},"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 Yoshihara","raw_affiliation_strings":["Institute of Innovation for Future Society (MIRAI), Nagoya University, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Innovation for Future Society (MIRAI), Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084435505","display_name":"Yoshiki Ninomiya","orcid":"https://orcid.org/0000-0003-1900-2973"},"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":"Yoshiki Ninomiya","raw_affiliation_strings":["Institute of Innovation for Future Society (MIRAI), Nagoya University, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Innovation for Future Society (MIRAI), Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5049328132"],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":null,"apc_paid":null,"fwci":146.7235,"has_fulltext":false,"cited_by_count":114,"citation_normalized_percentile":{"value":0.99935625,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1356","last_page":"1363"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.7052921056747437},{"id":"https://openalex.org/keywords/nondestructive-testing","display_name":"Nondestructive testing","score":0.6740840077400208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6102121472358704},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6001039147377014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5797477960586548},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5746593475341797},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.42566749453544617},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4175507128238678},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21914878487586975},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11113223433494568},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08618682622909546}],"concepts":[{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.7052921056747437},{"id":"https://openalex.org/C56529433","wikidata":"https://www.wikidata.org/wiki/Q626700","display_name":"Nondestructive testing","level":2,"score":0.6740840077400208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6102121472358704},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6001039147377014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5797477960586548},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5746593475341797},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.42566749453544617},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4175507128238678},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21914878487586975},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11113223433494568},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08618682622909546},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/ivs.2017.7995900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995900","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7099999785423279,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1483307070","https://openalex.org/W1514390850","https://openalex.org/W1526532716","https://openalex.org/W1556546299","https://openalex.org/W1567242735","https://openalex.org/W1577509784","https://openalex.org/W1983043788","https://openalex.org/W2021063678","https://openalex.org/W2057520584","https://openalex.org/W2089112725","https://openalex.org/W2096143401","https://openalex.org/W2099531331","https://openalex.org/W2131439959","https://openalex.org/W2140881794","https://openalex.org/W2145178709","https://openalex.org/W2161469147","https://openalex.org/W2169901455","https://openalex.org/W2295130602","https://openalex.org/W2512138554","https://openalex.org/W2586645596","https://openalex.org/W4240369156","https://openalex.org/W6633384538"],"related_works":["https://openalex.org/W4384112194","https://openalex.org/W2783354812","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4390813131","https://openalex.org/W2349383066","https://openalex.org/W1969901537","https://openalex.org/W4328132048","https://openalex.org/W4308259661","https://openalex.org/W2376202349"],"abstract_inverted_index":{"In":[0,144],"this":[1,62,74],"paper,":[2],"we":[3,76],"present":[4],"a":[5,12,121,126,130],"localization":[6,33,46,133,150],"approach":[7,124],"that":[8,113],"is":[9,63,99,114,118,151],"based":[10,23],"on":[11,24],"point-cloud":[13],"matching":[14,22,85,108,123],"method":[15],"(normal":[16],"distribution":[17],"transform":[18],"\u201cNDT\u201d)":[19],"and":[20,28,47,61,117],"road-marker":[21,122],"the":[25,55,58,80,90,94,96,102,110,146,149,156,159],"light":[26],"detection":[27],"ranging":[29],"intensity.":[30],"Point-cloud":[31],"map-based":[32],"methods":[34],"enable":[35],"autonomous":[36],"vehicles":[37],"to":[38,78,101],"accurately":[39],"estimate":[40,79],"their":[41],"own":[42],"positions.":[43],"However,":[44],"accurate":[45,132],"\u201cmatching":[48],"error\u201d":[49],"estimations":[50],"cannot":[51],"be":[52,135],"performed":[53,136],"when":[54],"appearance":[56],"of":[57,82,148,158],"environment":[59],"changes,":[60],"common":[64],"in":[65,73,93,137,139],"rural":[66],"environments.":[67],"To":[68],"cope":[69],"with":[70,120],"these":[71],"inaccuracies,":[72],"work,":[75],"propose":[77],"error":[81],"NDT":[83,106,142],"scan":[84,103,107],"beforehand":[86],"(off-line).":[87],"Then,":[88],"as":[89],"vehicle":[91],"navigates":[92],"environment,":[95],"appropriate":[97],"uncertainty":[98,111,147],"assigned":[100],"matching.":[104],"3D":[105,141],"utilizes":[109],"information":[112],"estimated":[115],"off-line,":[116],"combined":[119],"using":[125],"particle-filtering":[127],"algorithm.":[128],"As":[129],"result,":[131],"can":[134],"areas":[138],"which":[140],"failed.":[143],"addition,":[145],"reduced.":[152],"Experimental":[153],"results":[154],"show":[155],"performance":[157],"proposed":[160],"method.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":2}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2025-10-10T00:00:00"}