{"id":"https://openalex.org/W4211040010","doi":"https://doi.org/10.1109/lra.2022.3150499","title":"RINet: Efficient 3D Lidar-Based Place Recognition Using Rotation Invariant Neural Network","display_name":"RINet: Efficient 3D Lidar-Based Place Recognition Using Rotation Invariant Neural Network","publication_year":2022,"publication_date":"2022-02-12","ids":{"openalex":"https://openalex.org/W4211040010","doi":"https://doi.org/10.1109/lra.2022.3150499"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3150499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3150499","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/A5101996951","display_name":"Lin Li","orcid":"https://orcid.org/0000-0002-0901-4009"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Li","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021690011","display_name":"Xin Kong","orcid":"https://orcid.org/0000-0003-4491-2522"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xin Kong","raw_affiliation_strings":["Department of Computing, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4491-2522","affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068269158","display_name":"Xiangrui Zhao","orcid":"https://orcid.org/0000-0002-0129-1933"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangrui Zhao","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0129-1933","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090768947","display_name":"Tianxin Huang","orcid":"https://orcid.org/0000-0003-3579-371X"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianxin Huang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005172019","display_name":"Wanlong Li","orcid":"https://orcid.org/0000-0001-5886-1426"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanlong Li","raw_affiliation_strings":["Huawei Noah\u2019s Ark Lab, Beijing, China","Huawei Noah's Ark Lab, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah\u2019s Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]},{"raw_affiliation_string":"Huawei Noah's Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034468581","display_name":"Feng Wen","orcid":"https://orcid.org/0000-0001-7536-638X"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Wen","raw_affiliation_strings":["Huawei Noah\u2019s Ark Lab, Beijing, China","Huawei Noah's Ark Lab, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah\u2019s Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]},{"raw_affiliation_string":"Huawei Noah's Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101753336","display_name":"Hongbo Zhang","orcid":"https://orcid.org/0000-0001-7865-5670"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Zhang","raw_affiliation_strings":["Huawei Noah\u2019s Ark Lab, Beijing, China","Huawei Noah's Ark Lab, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah\u2019s Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]},{"raw_affiliation_string":"Huawei Noah's Ark Lab, Beijing, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724297","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0003-4822-8939"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Huzhou Institute of Zhejiang University, Hangzhou, China","State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4822-8939","affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":35.5218,"has_fulltext":false,"cited_by_count":68,"citation_normalized_percentile":{"value":0.99698229,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"4321","last_page":"4328"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9976999759674072,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9968000054359436,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6948602199554443},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6900854706764221},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6894248723983765},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.6481808423995972},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6046950817108154},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5704189538955688},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5540724992752075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.545485258102417},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5230497121810913},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4591727554798126},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4187660813331604},{"id":"https://openalex.org/keywords/equivariant-map","display_name":"Equivariant map","score":0.4115683436393738},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1638660430908203},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.09765753149986267},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08933895826339722}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6948602199554443},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6900854706764221},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6894248723983765},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.6481808423995972},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6046950817108154},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5704189538955688},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5540724992752075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.545485258102417},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5230497121810913},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4591727554798126},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4187660813331604},{"id":"https://openalex.org/C171036898","wikidata":"https://www.wikidata.org/wiki/Q256355","display_name":"Equivariant map","level":2,"score":0.4115683436393738},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1638660430908203},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.09765753149986267},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08933895826339722},{"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/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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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.2022.3150499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3150499","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":50,"referenced_works":["https://openalex.org/W1988322066","https://openalex.org/W2029449100","https://openalex.org/W2033574012","https://openalex.org/W2115579991","https://openalex.org/W2213518912","https://openalex.org/W2335829695","https://openalex.org/W2527172881","https://openalex.org/W2560609797","https://openalex.org/W2565998037","https://openalex.org/W2892028890","https://openalex.org/W2902610326","https://openalex.org/W2910489334","https://openalex.org/W2913314773","https://openalex.org/W2951019013","https://openalex.org/W2952241957","https://openalex.org/W2957348723","https://openalex.org/W2963121255","https://openalex.org/W2963708168","https://openalex.org/W2970834748","https://openalex.org/W2979750740","https://openalex.org/W2991216808","https://openalex.org/W2994881679","https://openalex.org/W2998658430","https://openalex.org/W3011465262","https://openalex.org/W3036737467","https://openalex.org/W3039808820","https://openalex.org/W3092449207","https://openalex.org/W3099455272","https://openalex.org/W3100687815","https://openalex.org/W3129920626","https://openalex.org/W3130266661","https://openalex.org/W3130609318","https://openalex.org/W3131379059","https://openalex.org/W3132252078","https://openalex.org/W3132982513","https://openalex.org/W3137393880","https://openalex.org/W3175122022","https://openalex.org/W3177271542","https://openalex.org/W3177330511","https://openalex.org/W3203597819","https://openalex.org/W3206352917","https://openalex.org/W3207344666","https://openalex.org/W4385245566","https://openalex.org/W6739778489","https://openalex.org/W6739901393","https://openalex.org/W6758857762","https://openalex.org/W6763422710","https://openalex.org/W6779789776","https://openalex.org/W6784063889","https://openalex.org/W6802719855"],"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/W3148895720","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2798549588"],"abstract_inverted_index":{"LiDAR-based":[0],"place":[1,34],"recognition":[2],"(LPR)":[3],"is":[4,48,75,107,118],"one":[5],"of":[6,10,113],"the":[7,32,78,111,137],"basic":[8],"capabilities":[9],"robots,":[11],"which":[12,47,90],"can":[13,67,121,147],"retrieve":[14],"scenes":[15],"from":[16,35],"maps":[17],"and":[18,93,120,133,140,153],"identify":[19],"previously":[20],"visited":[21],"locations":[22],"based":[23],"on":[24,127,136],"3D":[25],"point":[26],"clouds.":[27],"As":[28],"robots":[29],"often":[30],"pass":[31],"same":[33,79],"different":[36],"views,":[37],"LPR":[38],"methods":[39],"are":[40],"supposed":[41],"to":[42,45,96,109],"be":[43],"robust":[44],"rotation,":[46],"lacking":[49],"in":[50,77,150],"most":[51],"current":[52],"learning-based":[53],"approaches.":[54],"In":[55],"this":[56],"letter,":[57],"we":[58,82],"propose":[59],"a":[60,84,101],"rotation":[61,86,102],"invariant":[62,103],"neural":[63,105],"network":[64,106,117],"structure":[65],"that":[66,144],"detect":[68],"reverse":[69],"loop":[70],"closures":[71],"even":[72],"training":[73],"data":[74],"all":[76],"direction.":[80],"Specifically,":[81],"design":[83],"novel":[85],"equivariant":[87],"global":[88],"descriptor,":[89],"combines":[91],"semantic":[92],"geometric":[94],"features":[95],"improve":[97],"description":[98],"ability.":[99],"Then":[100],"siamese":[104],"implemented":[108],"predict":[110],"similarity":[112],"descriptor":[114],"pairs.":[115],"Our":[116],"lightweight":[119],"operate":[122],"more":[123],"than":[124],"8000":[125],"FPS":[126],"an":[128],"i7-9700":[129],"CPU.":[130],"Exhaustive":[131],"evaluations":[132],"robustness":[134],"tests":[135],"KITTI,":[138],"KITTI-360,":[139],"NCLT":[141],"datasets":[142],"show":[143],"our":[145],"approach":[146],"work":[148],"stably":[149],"various":[151],"scenarios":[152],"achieve":[154],"state-of-the-art":[155],"performance.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":32},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":5}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
