{"id":"https://openalex.org/W4389371161","doi":"https://doi.org/10.1109/lra.2023.3337704","title":"Poses as Queries: End-to-End Image-to-LiDAR Map Localization With Transformers","display_name":"Poses as Queries: End-to-End Image-to-LiDAR Map Localization With Transformers","publication_year":2023,"publication_date":"2023-12-06","ids":{"openalex":"https://openalex.org/W4389371161","doi":"https://doi.org/10.1109/lra.2023.3337704"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3337704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3337704","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/A5043682012","display_name":"Jinyu Miao","orcid":"https://orcid.org/0000-0001-8558-9173"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinyu Miao","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102957468","display_name":"Kun Jiang","orcid":"https://orcid.org/0000-0001-7282-172X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Jiang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074259924","display_name":"Yunlong Wang","orcid":"https://orcid.org/0000-0003-0439-9920"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunlong Wang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020028921","display_name":"Tuopu Wen","orcid":"https://orcid.org/0000-0002-3093-765X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tuopu Wen","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019559756","display_name":"Zhongyang Xiao","orcid":"https://orcid.org/0000-0003-0571-9156"},"institutions":[{"id":"https://openalex.org/I4401726823","display_name":"Nio (China)","ror":"https://ror.org/02w12zj89","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726823"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongyang Xiao","raw_affiliation_strings":["Autonomous Driving Division of NIO Inc., Beijing, China"],"affiliations":[{"raw_affiliation_string":"Autonomous Driving Division of NIO Inc., Beijing, China","institution_ids":["https://openalex.org/I4401726823"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103151322","display_name":"Zheng Fu","orcid":"https://orcid.org/0000-0002-5166-1525"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Fu","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014512074","display_name":"Mengmeng Yang","orcid":"https://orcid.org/0000-0002-3294-6437"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengmeng Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103284445","display_name":"Maolin Liu","orcid":"https://orcid.org/0000-0003-3319-6284"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maolin Liu","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087389386","display_name":"Jin Huang","orcid":"https://orcid.org/0000-0001-8774-2936"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Huang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101987780","display_name":"Zhihua Zhong","orcid":"https://orcid.org/0009-0003-6530-9930"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihua Zhong","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100735948","display_name":"Diange Yang","orcid":"https://orcid.org/0000-0002-0074-2448"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Diange Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5043682012"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":6.7854,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96241342,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"803","last_page":"810"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.8036233186721802},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.6117283701896667},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5626031756401062},{"id":"https://openalex.org/keywords/end-user","display_name":"End user","score":0.516941487789154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5164585113525391},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4956892728805542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41082093119621277},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.3129127025604248},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.30464842915534973},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.19312402606010437},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18396052718162537},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12787654995918274}],"concepts":[{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.8036233186721802},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.6117283701896667},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5626031756401062},{"id":"https://openalex.org/C91262260","wikidata":"https://www.wikidata.org/wiki/Q528074","display_name":"End user","level":2,"score":0.516941487789154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5164585113525391},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4956892728805542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41082093119621277},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.3129127025604248},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.30464842915534973},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.19312402606010437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18396052718162537},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12787654995918274},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3337704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3337704","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":[{"id":"https://openalex.org/G2826808901","display_name":null,"funder_award_id":"Z221100008122011","funder_id":"https://openalex.org/F4320325902","funder_display_name":"Beijing Municipal Science and Technology Commission"},{"id":"https://openalex.org/G7213601597","display_name":null,"funder_award_id":"U22A20104","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8878602023","display_name":null,"funder_award_id":"52102464","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"},{"id":"https://openalex.org/F4320325902","display_name":"Beijing Municipal Science and Technology Commission","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W2049981393","https://openalex.org/W2085261163","https://openalex.org/W2150066425","https://openalex.org/W2155056756","https://openalex.org/W2335829695","https://openalex.org/W2567328166","https://openalex.org/W2909955272","https://openalex.org/W2963782415","https://openalex.org/W2989819309","https://openalex.org/W3037010467","https://openalex.org/W3091701820","https://openalex.org/W3096609285","https://openalex.org/W3098064904","https://openalex.org/W3104502516","https://openalex.org/W3130129454","https://openalex.org/W3170994844","https://openalex.org/W3173424558","https://openalex.org/W3207456022","https://openalex.org/W4210742869","https://openalex.org/W4249866455","https://openalex.org/W4285138757","https://openalex.org/W4296913583","https://openalex.org/W4386090303","https://openalex.org/W6607654200","https://openalex.org/W6739901393","https://openalex.org/W6776325169"],"related_works":["https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W4299590256","https://openalex.org/W2951281592","https://openalex.org/W3163634122","https://openalex.org/W3119482857","https://openalex.org/W2919182614"],"abstract_inverted_index":{"High-precision":[0],"vehicle":[1],"localization":[2,21,48,159,168],"with":[3,96],"commercial":[4],"setups":[5],"is":[6,43],"a":[7,16,59,108,118],"crucial":[8],"technique":[9],"for":[10],"high-level":[11],"autonomous":[12],"driving":[13],"tasks.":[14,169],"As":[15],"newly":[17],"emerged":[18],"approach,":[19],"monocular":[20],"in":[22,72,107,165],"LiDAR":[23,70],"map":[24,71,158],"achieves":[25],"promising":[26],"balance":[27],"between":[28,38],"cost":[29],"and":[30,90,147],"accuracy,":[31],"but":[32],"estimating":[33],"pose":[34],"by":[35,57,94,128],"finding":[36],"correspondences":[37],"such":[39],"cross-modal":[40,102,167],"sensor":[41],"data":[42],"challenging,":[44],"thereby":[45],"damaging":[46],"the":[47,55,97,125,142,155],"accuracy.":[49],"In":[50],"this":[51],"letter,":[52],"we":[53,116],"address":[54],"problem":[56],"proposing":[58],"novel":[60],"Transformer-based":[61],"neural":[62],"network":[63,143,160],"to":[64,140],"register":[65],"2D":[66],"images":[67],"into":[68],"3D":[69],"an":[73],"end-to-end":[74],"manner.":[75],"We":[76],"first":[77],"implicitly":[78],"represent":[79],"poses":[80,93,127],"as":[81],"high-dimensional":[82],"feature":[83],"vectors":[84],"called":[85],"<italic":[86,136],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[87,137],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">pose":[88,138],"queries</i>":[89,139],"gradually":[91],"optimize":[92],"interacting":[95],"retrieved":[98],"relevant":[99],"information":[100],"from":[101],"features":[103],"using":[104],"attention":[105],"mechanism":[106],"proposed":[109,156],"POse":[110],"Estimator":[111],"Transformer":[112],"(POET)":[113],"module.":[114],"Moreover,":[115],"apply":[117],"multiple":[119,133],"hypotheses":[120],"aggregation":[121],"method":[122],"that":[123,154],"estimates":[124],"final":[126],"performing":[129],"parallel":[130],"optimization":[131],"on":[132,150],"randomly":[134],"initialized":[135],"reduce":[141],"uncertainty.":[144],"Comprehensive":[145],"analysis":[146],"experimental":[148],"results":[149],"public":[151],"benchmarks":[152],"conclude":[153],"image-to-LiDAR":[157],"could":[161],"achieve":[162],"state-of-the-art":[163],"performances":[164],"challenging":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}