{"id":"https://openalex.org/W4292258322","doi":"https://doi.org/10.1109/lra.2022.3196470","title":"Visual Mapping and Localization System Based on Compact Instance-Level Road Markings With Spatial Uncertainty","display_name":"Visual Mapping and Localization System Based on Compact Instance-Level Road Markings With Spatial Uncertainty","publication_year":2022,"publication_date":"2022-08-17","ids":{"openalex":"https://openalex.org/W4292258322","doi":"https://doi.org/10.1109/lra.2022.3196470"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3196470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3196470","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/A5018496820","display_name":"Yuxuan Zhou","orcid":"https://orcid.org/0000-0002-5261-0009"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuxuan Zhou","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100661809","display_name":"Xingxing Li","orcid":"https://orcid.org/0000-0002-0283-4151"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingxing Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053326378","display_name":"Shengyu Li","orcid":"https://orcid.org/0000-0003-4014-2524"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengyu Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065169238","display_name":"Xuanbin Wang","orcid":"https://orcid.org/0009-0004-0849-556X"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanbin Wang","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018496820"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":4.3114,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.93373684,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"7","issue":"4","first_page":"10802","last_page":"10809"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9969000220298767,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"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/gnss-applications","display_name":"GNSS applications","score":0.7557056546211243},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.7380800843238831},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7164738178253174},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6688401103019714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6496405005455017},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6394616961479187},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.631792426109314},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.6119955778121948},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.48837751150131226},{"id":"https://openalex.org/keywords/mobile-mapping","display_name":"Mobile mapping","score":0.4202438294887543},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.418129026889801},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.39748793840408325},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1749778687953949},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1286395788192749},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.09373381733894348}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7557056546211243},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.7380800843238831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7164738178253174},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6688401103019714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6496405005455017},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6394616961479187},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.631792426109314},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.6119955778121948},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.48837751150131226},{"id":"https://openalex.org/C2776821279","wikidata":"https://www.wikidata.org/wiki/Q2293902","display_name":"Mobile mapping","level":3,"score":0.4202438294887543},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.418129026889801},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.39748793840408325},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1749778687953949},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1286395788192749},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.09373381733894348},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3196470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3196470","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":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G8151963073","display_name":null,"funder_award_id":"41974027","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1977992720","https://openalex.org/W2056020240","https://openalex.org/W2060061906","https://openalex.org/W2081303520","https://openalex.org/W2139137304","https://openalex.org/W2553321288","https://openalex.org/W2740726895","https://openalex.org/W2745859992","https://openalex.org/W2962987986","https://openalex.org/W2963292632","https://openalex.org/W3003393199","https://openalex.org/W3110440461","https://openalex.org/W3131641033","https://openalex.org/W3145548033","https://openalex.org/W3206526468","https://openalex.org/W3206741876","https://openalex.org/W3206820494","https://openalex.org/W3217619902"],"related_works":["https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2149015029","https://openalex.org/W2152464524","https://openalex.org/W2085332992","https://openalex.org/W3206634034","https://openalex.org/W48401697","https://openalex.org/W2070904807"],"abstract_inverted_index":{"High-definition":[0],"(HD)":[1],"map":[2,72,90,122,144],"is":[3,24,107],"crucial":[4],"for":[5,109],"intelligent":[6],"vehicles":[7],"to":[8,26,133],"perform":[9],"high-level":[10],"localization":[11,34,52,96],"and":[12,18,31,51,62,95,121,146],"navigation.":[13],"To":[14],"improve":[15],"the":[16,71,80,99,138],"availability":[17],"usability":[19],"of":[20,70,98,137],"HD":[21],"map,":[22],"it":[23],"meaningful":[25],"investigate":[27],"crowd-sourced":[28],"mapping":[29,50,83,94],"solutions":[30],"low-cost":[32],"map-aided":[33,65,147],"schemes":[35],"which":[36,54,86],"don't":[37],"rely":[38],"on":[39],"high-end":[40],"sensors.":[41],"In":[42],"this":[43],"letter,":[44],"we":[45],"propose":[46],"a":[47,102],"novel":[48],"vision-based":[49],"system,":[53,139],"could":[55],"generate":[56],"compact":[57],"instance-level":[58],"road":[59],"maps":[60],"automatically":[61],"provide":[63],"high-availability":[64],"localization.":[66,148],"The":[67],"spatial":[68],"uncertainties":[69],"elements":[73],"are":[74],"taken":[75],"into":[76],"consideration":[77],"by":[78,113],"analyzing":[79],"inverse":[81],"perspective":[82],"(IPM)":[84],"model,":[85],"enables":[87],"more":[88],"flexible":[89],"usages":[91],"in":[92,128],"both":[93],"phases":[97,136],"system.":[100],"Besides,":[101],"pose":[103,111],"graph":[104],"optimization":[105],"framework":[106],"developed":[108],"accurate":[110],"estimation":[112],"fusing":[114],"global":[115],"positioning":[116],"(GNSS),":[117],"local":[118],"navigation":[119],"(odometry)":[120],"matching":[123],"information":[124],"together.":[125],"Real-world":[126],"experiments":[127],"urban":[129],"environment":[130],"were":[131],"conducted":[132],"validate":[134],"different":[135],"including":[140],"on-vehicle":[141],"mapping,":[142],"multi-source":[143],"merging":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
