{"id":"https://openalex.org/W2751232655","doi":"https://doi.org/10.1109/lra.2017.2748180","title":"Ground-Edge-Based LIDAR Localization Without a Reflectivity Calibration for Autonomous Driving","display_name":"Ground-Edge-Based LIDAR Localization Without a Reflectivity Calibration for Autonomous Driving","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2751232655","doi":"https://doi.org/10.1109/lra.2017.2748180","mag":"2751232655"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2748180","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2748180","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1710.02192","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053027276","display_name":"Juan Castorena","orcid":"https://orcid.org/0000-0003-2617-5178"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Juan Castorena","raw_affiliation_strings":["Autonomous Vehicles Group, Ford Motor Company, Dearborn, MI, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Vehicles Group, Ford Motor Company, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101450052","display_name":"Siddharth Agarwal","orcid":"https://orcid.org/0000-0001-6213-1477"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddharth Agarwal","raw_affiliation_strings":["Autonomous Vehicles Group, Ford Motor Company, Dearborn, MI, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Vehicles Group, Ford Motor Company, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053027276"],"corresponding_institution_ids":["https://openalex.org/I1292974536"],"apc_list":null,"apc_paid":null,"fwci":53.6098,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.99603605,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"3","issue":"1","first_page":"344","last_page":"351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9980999827384949,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6757079362869263},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6376986503601074},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6328606605529785},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6298292875289917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5983160734176636},{"id":"https://openalex.org/keywords/reflectivity","display_name":"Reflectivity","score":0.5612495541572571},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5600442290306091},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.49126094579696655},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4799357056617737},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.47674357891082764},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.45665183663368225},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.4403602182865143},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.42589178681373596},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.4217658042907715},{"id":"https://openalex.org/keywords/factory","display_name":"Factory (object-oriented programming)","score":0.41519081592559814},{"id":"https://openalex.org/keywords/grating","display_name":"Grating","score":0.41093817353248596},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.32540059089660645},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18346631526947021},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1801355481147766},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1610279381275177},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1321786642074585},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0867576003074646},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08435818552970886}],"concepts":[{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6757079362869263},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6376986503601074},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6328606605529785},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6298292875289917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5983160734176636},{"id":"https://openalex.org/C108597893","wikidata":"https://www.wikidata.org/wiki/Q663650","display_name":"Reflectivity","level":2,"score":0.5612495541572571},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5600442290306091},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.49126094579696655},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4799357056617737},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.47674357891082764},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.45665183663368225},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.4403602182865143},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.42589178681373596},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.4217658042907715},{"id":"https://openalex.org/C40149104","wikidata":"https://www.wikidata.org/wiki/Q5620977","display_name":"Factory (object-oriented programming)","level":2,"score":0.41519081592559814},{"id":"https://openalex.org/C2777813233","wikidata":"https://www.wikidata.org/wiki/Q1527816","display_name":"Grating","level":2,"score":0.41093817353248596},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.32540059089660645},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18346631526947021},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1801355481147766},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1610279381275177},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1321786642074585},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0867576003074646},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08435818552970886},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2017.2748180","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2748180","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1710.02192","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1710.02192","pdf_url":"https://arxiv.org/pdf/1710.02192","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1710.02192","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1710.02192","pdf_url":"https://arxiv.org/pdf/1710.02192","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5699999928474426,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W179122090","https://openalex.org/W1764461045","https://openalex.org/W1874027545","https://openalex.org/W1896525902","https://openalex.org/W1999050017","https://openalex.org/W2000035714","https://openalex.org/W2005089986","https://openalex.org/W2021063678","https://openalex.org/W2030021468","https://openalex.org/W2054969198","https://openalex.org/W2062539424","https://openalex.org/W2077506631","https://openalex.org/W2082060895","https://openalex.org/W2089915976","https://openalex.org/W2103559027","https://openalex.org/W2105456967","https://openalex.org/W2113551198","https://openalex.org/W2137052305","https://openalex.org/W2140881794","https://openalex.org/W2140935196","https://openalex.org/W2146881125","https://openalex.org/W2164980264","https://openalex.org/W2263483072","https://openalex.org/W2294402740","https://openalex.org/W2399453552","https://openalex.org/W2496387143","https://openalex.org/W2559398850","https://openalex.org/W2605103573","https://openalex.org/W2738801284","https://openalex.org/W2963121817","https://openalex.org/W4242237682","https://openalex.org/W4249866455","https://openalex.org/W6638006888","https://openalex.org/W6639682098","https://openalex.org/W6670931042","https://openalex.org/W6693378663","https://openalex.org/W6723960896","https://openalex.org/W6741526280"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4210818033"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3,77],"propose":[4],"an":[5,34],"alternative":[6,35],"formulation":[7,32],"to":[8,43],"the":[9,58,61,85],"problem":[10],"of":[11,29,47,60,84],"ground":[12,88],"reflectivity":[13,37,63,89],"grid-based":[14],"localization":[15,31,91],"involving":[16],"laser-scanned":[17],"data":[18],"from":[19],"multiple":[20],"LIDARs":[21],"mounted":[22],"on":[23,87],"autonomous":[24],"vehicles.":[25],"The":[26],"driving":[27],"idea":[28],"our":[30],"is":[33,41],"edge":[36],"grid":[38],"representation,":[39],"which":[40],"invariant":[42],"laser":[44],"source,":[45],"angle":[46],"incidence,":[48],"range,":[49],"and":[50],"robot":[51],"surveying":[52],"motion.":[53],"Such":[54],"a":[55],"property":[56],"eliminates":[57],"need":[59],"postfactory":[62],"calibration":[64],"whose":[65],"time":[66],"requirements":[67],"are":[68],"infeasible":[69],"in":[70],"mass-produced":[71],"robots/vehicles.":[72],"Our":[73],"experiments":[74],"demonstrate":[75],"that":[76],"can":[78],"achieve":[79],"better":[80],"performance":[81],"than":[82],"state":[83],"art":[86],"inference-map-based":[90],"at":[92],"no":[93],"additional":[94],"computational":[95],"burden.":[96]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2017-09-15T00:00:00"}
