{"id":"https://openalex.org/W3145548033","doi":"https://doi.org/10.1109/lra.2021.3068948","title":"Road Mapping and Localization Using Sparse Semantic Visual Features","display_name":"Road Mapping and Localization Using Sparse Semantic Visual Features","publication_year":2021,"publication_date":"2021-03-25","ids":{"openalex":"https://openalex.org/W3145548033","doi":"https://doi.org/10.1109/lra.2021.3068948","mag":"3145548033"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3068948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068948","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5101856826","display_name":"Wentao Cheng","orcid":"https://orcid.org/0000-0001-6222-8084"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Cheng","raw_affiliation_strings":["The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6222-8084","affiliations":[{"raw_affiliation_string":"The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053519908","display_name":"Sheng Yang","orcid":"https://orcid.org/0000-0001-8295-1552"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Yang","raw_affiliation_strings":["The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8295-1552","affiliations":[{"raw_affiliation_string":"The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001741549","display_name":"Maomin Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maomin Zhou","raw_affiliation_strings":["The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100702701","display_name":"Ziyuan Liu","orcid":"https://orcid.org/0000-0002-7735-3141"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyuan Liu","raw_affiliation_strings":["The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101694527","display_name":"Yiming Chen","orcid":"https://orcid.org/0000-0003-0508-1527"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Chen","raw_affiliation_strings":["The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0508-1527","affiliations":[{"raw_affiliation_string":"The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100443411","display_name":"Mingyang Li","orcid":"https://orcid.org/0000-0002-1854-3076"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Li","raw_affiliation_strings":["The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1854-3076","affiliations":[{"raw_affiliation_string":"The authors are with the AI Lab, Aliyun Business Group, Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I45928872"],"apc_list":null,"apc_paid":null,"fwci":24.7681,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.990315,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"6","issue":"4","first_page":"8118","last_page":"8125"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987000226974487,"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/pipeline","display_name":"Pipeline (software)","score":0.7135007977485657},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7043484449386597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6807482242584229},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5313321352005005},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.49363863468170166},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4678381681442261},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.4593518078327179},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.45006951689720154},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.44273674488067627},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44103509187698364},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4306509494781494},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1144770085811615}],"concepts":[{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7135007977485657},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7043484449386597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6807482242584229},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5313321352005005},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.49363863468170166},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4678381681442261},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4593518078327179},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.45006951689720154},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.44273674488067627},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44103509187698364},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4306509494781494},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1144770085811615},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3068948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068948","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1483681246","https://openalex.org/W1522301498","https://openalex.org/W1989484209","https://openalex.org/W1991544872","https://openalex.org/W1995266040","https://openalex.org/W2083464378","https://openalex.org/W2118428504","https://openalex.org/W2118877769","https://openalex.org/W2124865351","https://openalex.org/W2130103520","https://openalex.org/W2152864241","https://openalex.org/W2198391854","https://openalex.org/W2200124539","https://openalex.org/W2278591674","https://openalex.org/W2461937780","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2553603302","https://openalex.org/W2566881119","https://openalex.org/W2740418457","https://openalex.org/W2745859992","https://openalex.org/W2770176163","https://openalex.org/W2888816914","https://openalex.org/W2899191262","https://openalex.org/W2909157769","https://openalex.org/W2935837427","https://openalex.org/W2938170127","https://openalex.org/W2938672559","https://openalex.org/W2963200201","https://openalex.org/W2963323244","https://openalex.org/W2963324085","https://openalex.org/W2964121744","https://openalex.org/W2964199920","https://openalex.org/W2971778153","https://openalex.org/W3003571623","https://openalex.org/W3003813985","https://openalex.org/W3090386798","https://openalex.org/W3098467253","https://openalex.org/W3102327032","https://openalex.org/W3105489439","https://openalex.org/W3124420883","https://openalex.org/W3165610079","https://openalex.org/W4285719527","https://openalex.org/W4289362181","https://openalex.org/W6631190155","https://openalex.org/W6677548441","https://openalex.org/W6679388247","https://openalex.org/W6729999887","https://openalex.org/W6755679014","https://openalex.org/W6760424586","https://openalex.org/W6795742097"],"related_works":["https://openalex.org/W3037187668","https://openalex.org/W2385263368","https://openalex.org/W2347422947","https://openalex.org/W2061292372","https://openalex.org/W2380685755","https://openalex.org/W328874995","https://openalex.org/W2062195135","https://openalex.org/W2353392568","https://openalex.org/W2377341410","https://openalex.org/W1454600515"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,83],"novel":[3],"method":[4,23,120],"for":[5,10,40,64,86],"visual":[6],"mapping":[7,87],"and":[8,16,44,57,66,68,88,100,108,116],"localization":[9],"autonomous":[11],"vehicles,":[12],"by":[13,59,121],"extracting,":[14],"modeling,":[15],"optimizing":[17],"semantic":[18,79],"road":[19,31,55,78],"elements.":[20],"Specifically,":[21],"our":[22,109,119],"integrates":[24],"cascaded":[25],"deep":[26,62],"models":[27],"to":[28,38],"detect":[29],"standardized":[30],"elements":[32],"instead":[33],"of":[34,118],"traditional":[35,123],"point":[36],"features,":[37,52,80],"seek":[39],"improved":[41],"pose":[42],"accuracy":[43],"map":[45],"representation":[46],"compactness.":[47],"To":[48],"utilize":[49],"the":[50,77,114],"structural":[51],"we":[53,81],"model":[54],"lights":[56],"signs":[58],"their":[60],"representative":[61],"keypoints":[63],"skeleton":[65],"boundary,":[67],"parameterize":[69],"lanes":[70],"via":[71],"piecewise":[72],"cubic":[73],"splines.":[74],"Based":[75],"on":[76,105],"build":[82],"complete":[84],"pipeline":[85],"localization,":[89],"which":[90],"includes":[91],"a)":[92],"image":[93],"processing":[94],"front-end,":[95],"b)":[96],"sensor":[97],"fusion":[98],"strategies,":[99],"c)":[101],"optimization":[102],"back-end.":[103],"Experiments":[104],"public":[106],"datasets":[107],"testing":[110],"platform":[111],"have":[112],"demonstrated":[113],"effectiveness":[115],"advantages":[117],"outperforming":[122],"approaches.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":6}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
