{"id":"https://openalex.org/W3202880795","doi":"https://doi.org/10.1109/lra.2021.3114956","title":"Certainty Aware Global Localisation Using 3D Point Correspondences","display_name":"Certainty Aware Global Localisation Using 3D Point Correspondences","publication_year":2021,"publication_date":"2021-09-24","ids":{"openalex":"https://openalex.org/W3202880795","doi":"https://doi.org/10.1109/lra.2021.3114956","mag":"3202880795"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3114956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3114956","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/A5002564408","display_name":"Remo Steiner","orcid":"https://orcid.org/0000-0001-9785-9871"},"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"]},{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU","CH"],"is_corresponding":true,"raw_author_name":"Remo Steiner","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia","Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland; Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia","institution_ids":["https://openalex.org/I1292875679"]},{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland; Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia","institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070985746","display_name":"Mark Cox","orcid":"https://orcid.org/0000-0002-8269-7918"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Mark Cox","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/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":"funder","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/A5063760728","display_name":"Lukas Bernreiter","orcid":"https://orcid.org/0000-0002-3162-0363"},"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":"Lukas Bernreiter","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","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"]},{"raw_affiliation_string":"Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059792297","display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"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":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","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"]},{"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":5,"corresponding_author_ids":["https://openalex.org/A5002564408"],"corresponding_institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.68,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.79417256,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"6","issue":"4","first_page":"8710","last_page":"8717"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9990000128746033,"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/T10531","display_name":"Advanced Vision and Imaging","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/certainty","display_name":"Certainty","score":0.6414341926574707},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.55820631980896},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5480390787124634},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4915383756160736},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.49036312103271484},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48490387201309204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44712480902671814},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.44544991850852966},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.44233372807502747},{"id":"https://openalex.org/keywords/maximum-a-posteriori-estimation","display_name":"Maximum a posteriori estimation","score":0.43852314352989197},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.4354546070098877},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36257660388946533},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17390811443328857},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.15874585509300232},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13719874620437622},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.13572576642036438},{"id":"https://openalex.org/keywords/maximum-likelihood","display_name":"Maximum likelihood","score":0.09816059470176697}],"concepts":[{"id":"https://openalex.org/C7493553","wikidata":"https://www.wikidata.org/wiki/Q1520777","display_name":"Certainty","level":2,"score":0.6414341926574707},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.55820631980896},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5480390787124634},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4915383756160736},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.49036312103271484},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48490387201309204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44712480902671814},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.44544991850852966},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.44233372807502747},{"id":"https://openalex.org/C9810830","wikidata":"https://www.wikidata.org/wiki/Q635384","display_name":"Maximum a posteriori estimation","level":3,"score":0.43852314352989197},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.4354546070098877},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36257660388946533},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17390811443328857},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.15874585509300232},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13719874620437622},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.13572576642036438},{"id":"https://openalex.org/C49781872","wikidata":"https://www.wikidata.org/wiki/Q1045555","display_name":"Maximum likelihood","level":2,"score":0.09816059470176697},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3114956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3114956","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1532257412","https://openalex.org/W1663973292","https://openalex.org/W1988322066","https://openalex.org/W2009086942","https://openalex.org/W2096020743","https://openalex.org/W2144824356","https://openalex.org/W2151103935","https://openalex.org/W2284029970","https://openalex.org/W2461937780","https://openalex.org/W2467214650","https://openalex.org/W2565998037","https://openalex.org/W2620629206","https://openalex.org/W2892028890","https://openalex.org/W2896994311","https://openalex.org/W2902610326","https://openalex.org/W2908758989","https://openalex.org/W2910925829","https://openalex.org/W2951019013","https://openalex.org/W2951349360","https://openalex.org/W2957348723","https://openalex.org/W2963708168","https://openalex.org/W2963912970","https://openalex.org/W3039808820","https://openalex.org/W3043075211","https://openalex.org/W3089353397","https://openalex.org/W3097606838","https://openalex.org/W3099727102","https://openalex.org/W3106240518","https://openalex.org/W3124420883","https://openalex.org/W3165205231"],"related_works":["https://openalex.org/W2418227039","https://openalex.org/W2387971622","https://openalex.org/W2552404713","https://openalex.org/W2141935323","https://openalex.org/W1559214593","https://openalex.org/W2418299857","https://openalex.org/W2348150032","https://openalex.org/W2046270956","https://openalex.org/W2963673069","https://openalex.org/W2747493828"],"abstract_inverted_index":{"We":[0,123,140],"propose":[1],"a":[2,59,83,149,172,177],"probabilistic":[3],"framework":[4],"for":[5,19],"multi-modal":[6],"global":[7,34,121],"localisation":[8,108],"using":[9,48,168],"3D":[10,51,74,79],"point":[11],"correspondences":[12,75,97],"without":[13],"needing":[14],"to":[15,65,117,176],"integrate":[16],"over":[17],"SE(3)":[18],"Bayesian":[20],"inference.":[21],"A":[22],"finite":[23],"set":[24],"of":[25,69,78,102,130,137,145,151],"transformation":[26,44,132],"candidates":[27,133],"is":[28,62,160],"constructed":[29],"by":[30,82,89,162],"decomposing":[31],"the":[32,41,57,67,70,100,103,114,119,131,135,138,143,146,156,169],"known":[33,120],"map":[35],"into":[36],"local":[37],"places":[38],"and":[39,85,106,153],"computing":[40],"maximum":[42,58],"likelihood":[43],"at":[45],"each":[46],"place":[47,49],"specific":[50],"correspondences.":[52],"An":[53],"acceptance":[54],"region":[55],"around":[56],"posteriori":[60],"candidate":[61],"then":[63],"used":[64,76,116],"calculate":[66],"certainty":[68,101,136,147,170],"location":[71,105],"estimate.":[72],"The":[73],"consist":[77],"positions":[80],"estimated":[81,104],"LiDAR":[84,179],"horizon":[86],"points":[87],"observed":[88],"cameras.":[90],"Our":[91],"empirical":[92],"results":[93],"show":[94,154],"that":[95,155],"visual":[96],"can":[98],"increase":[99],"improve":[107],"performance":[109],"when":[110,167],"far":[111],"away":[112],"from":[113],"trajectory":[115],"construct":[118],"map.":[122],"analyse":[124],"situations":[125],"where":[126],"improved":[127],"rotation":[128],"estimation":[129],"reduces":[134],"localisation.":[139],"also":[141],"highlight":[142],"efficacy":[144],"as":[148,171],"measure":[150],"success":[152,158],"framework's":[157],"rate":[159],"increased":[161],"<inline-formula":[163],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[164],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[165],"notation=\"LaTeX\">$\\text{12}\\%$</tex-math></inline-formula>":[166],"termination":[173],"criterion":[174],"compared":[175],"state-of-the-art":[178],"intensity":[180],"benchmark":[181],"(Guo,":[182],"2019).":[183]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}