{"id":"https://openalex.org/W2902610326","doi":"https://doi.org/10.1109/lra.2019.2893887","title":"Local Descriptor for Robust Place Recognition Using LiDAR Intensity","display_name":"Local Descriptor for Robust Place Recognition Using LiDAR Intensity","publication_year":2019,"publication_date":"2019-01-18","ids":{"openalex":"https://openalex.org/W2902610326","doi":"https://doi.org/10.1109/lra.2019.2893887","mag":"2902610326"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2893887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2893887","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":["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/A5100782711","display_name":"Jiadong Guo","orcid":"https://orcid.org/0000-0003-0625-8291"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Jiadong Guo","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027373455","display_name":"Paulo Borges","orcid":"https://orcid.org/0000-0001-8137-7245"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Paulo V. K. Borges","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089866888","display_name":"Chanoh Park","orcid":"https://orcid.org/0000-0003-3746-1460"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Chanoh Park","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027083332","display_name":"Abel Gawel","orcid":"https://orcid.org/0000-0003-2919-4040"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Abel Gawel","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100782711"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":130.4797,"has_fulltext":false,"cited_by_count":159,"citation_normalized_percentile":{"value":0.99940686,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"4","issue":"2","first_page":"1470","last_page":"1477"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9979000091552734,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7240183353424072},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7068793177604675},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.6167694926261902},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6128284335136414},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5296521186828613},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5241296887397766},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.48175692558288574},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.41429659724235535},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2903907895088196},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.23663994669914246},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2168872058391571},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14507704973220825}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7240183353424072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7068793177604675},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.6167694926261902},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6128284335136414},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5296521186828613},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5241296887397766},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.48175692558288574},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.41429659724235535},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2903907895088196},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.23663994669914246},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2168872058391571},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14507704973220825}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2019.2893887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2893887","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:eprints.qut.edu.au:128929","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"Contribution to Journal"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320386","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1593829915","https://openalex.org/W1882751422","https://openalex.org/W1896525902","https://openalex.org/W1988322066","https://openalex.org/W1989625560","https://openalex.org/W1996716599","https://openalex.org/W2009345891","https://openalex.org/W2024039087","https://openalex.org/W2096020743","https://openalex.org/W2105977269","https://openalex.org/W2133098875","https://openalex.org/W2139114878","https://openalex.org/W2141318219","https://openalex.org/W2151103935","https://openalex.org/W2160643963","https://openalex.org/W2160821342","https://openalex.org/W2170208355","https://openalex.org/W2278591674","https://openalex.org/W2415131061","https://openalex.org/W2467214650","https://openalex.org/W2527172881","https://openalex.org/W2535048900","https://openalex.org/W2588654400","https://openalex.org/W2751232655","https://openalex.org/W2779971048","https://openalex.org/W2892028890","https://openalex.org/W2899117197","https://openalex.org/W2912965286","https://openalex.org/W2963256208","https://openalex.org/W2963708168","https://openalex.org/W3097984693","https://openalex.org/W3099455272","https://openalex.org/W3106467141","https://openalex.org/W3114554915","https://openalex.org/W6639622305","https://openalex.org/W6639682098","https://openalex.org/W6683253545","https://openalex.org/W6719881089","https://openalex.org/W6734153576","https://openalex.org/W6747544202","https://openalex.org/W6750439714","https://openalex.org/W6755668676","https://openalex.org/W6948034103"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4221065211"],"abstract_inverted_index":{"Place":[0],"recognition":[1,126,136],"is":[2,34,143],"a":[3,95,121],"challenging":[4,146],"problem":[5],"in":[6,10,91,109,145,150],"mobile":[7],"robotics,":[8],"especially":[9],"unstructured":[11,154],"environments":[12],"or":[13],"under":[14],"viewpoint":[15],"and":[16,54,68,132,153],"illumination":[17],"changes.":[18],"Most":[19],"LiDAR-based":[20],"methods":[21],"rely":[22],"on":[23],"geometrical":[24],"features":[25],"to":[26,36,41,47],"overcome":[27],"such":[28],"challenges,":[29],"as":[30],"generally":[31],"scene":[32],"geometry":[33,67],"invariant":[35],"these":[37],"changes,":[38],"but":[39],"tend":[40],"affect":[42],"camera-based":[43],"solutions":[44],"significantly.":[45],"Compared":[46],"cameras,":[48],"however,":[49],"LiDARs":[50],"lack":[51],"the":[52,64,73,78,92,116,129],"strong":[53],"descriptive":[55],"appearance":[56],"information":[57,76,90],"that":[58],"imaging":[59],"can":[60],"provide.":[61],"To":[62,114],"combine":[63],"benefits":[65],"of":[66,94,140],"appearance,":[69],"we":[70,118],"propose":[71],"coupling":[72],"conventional":[74],"geometric":[75],"from":[77],"LiDAR":[79],"with":[80],"its":[81],"calibrated":[82],"intensity":[83],"return.":[84],"This":[85],"strategy":[86],"extracts":[87],"extremely":[88],"useful":[89],"form":[93],"new":[96,130],"descriptor":[97,112,131],"design,":[98],"coined":[99],"ISHOT,":[100],"outperforming":[101],"popular":[102],"state-of-the-art":[103],"geometric-only":[104],"descriptors":[105],"by":[106],"significant":[107],"margin":[108],"our":[110,141],"local":[111],"evaluation.":[113],"complete":[115],"framework,":[117],"furthermore":[119],"develop":[120],"probabilistic":[122],"keypoint":[123],"voting":[124],"place":[125,135],"algorithm,":[127],"leveraging":[128],"yielding":[133],"sublinear":[134],"performance.":[137],"The":[138],"efficacy":[139],"approach":[142],"validated":[144],"global":[147],"localization":[148],"experiments":[149],"large-scale":[151],"built-up":[152],"environments.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":38},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":33},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
