{"id":"https://openalex.org/W7081946088","doi":"https://doi.org/10.1109/lra.2025.3609614","title":"Real-Time and Robust 3D Place Recognition With Adaptive Data Reorganization and Geodesic-Constrained Plane Suppression","display_name":"Real-Time and Robust 3D Place Recognition With Adaptive Data Reorganization and Geodesic-Constrained Plane Suppression","publication_year":2025,"publication_date":"2025-09-12","ids":{"openalex":"https://openalex.org/W7081946088","doi":"https://doi.org/10.1109/lra.2025.3609614"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3609614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3609614","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":null,"display_name":"Chengmin Wang","orcid":"https://orcid.org/0009-0000-2576-2907"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chengmin Wang","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0009-0000-2576-2907","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yan Zhuang","orcid":"https://orcid.org/0000-0002-7640-4330"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zhuang","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-7640-4330","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fei Yan","orcid":"https://orcid.org/0000-0002-3454-5987"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Yan","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-3454-5987","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":null,"display_name":"Xuetao Zhang","orcid":"https://orcid.org/0000-0002-8485-8818"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuetao Zhang","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-8485-8818","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.59759039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"11","first_page":"11251","last_page":"11258"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.652400016784668,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.652400016784668,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T13067","display_name":"Geological Modeling and Analysis","score":0.02590000070631504,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14311","display_name":"Electrical and Electromagnetic Research","score":0.022099999710917473,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6931999921798706},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.48649999499320984},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.39750000834465027},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.33709999918937683},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.33629998564720154},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.33480000495910645},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.33059999346733093},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.3197000026702881},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.31290000677108765}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7475000023841858},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6931999921798706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6464999914169312},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.550000011920929},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.48649999499320984},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.39750000834465027},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.33709999918937683},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.33629998564720154},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.33480000495910645},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.33059999346733093},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.3197000026702881},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30320000648498535},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.30219998955726624},{"id":"https://openalex.org/C82668687","wikidata":"https://www.wikidata.org/wiki/Q3046456","display_name":"Earth mover's distance","level":2,"score":0.2930000126361847},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.28130000829696655},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.28130000829696655},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.27619999647140503},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.2718999981880188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26980000734329224},{"id":"https://openalex.org/C120174047","wikidata":"https://www.wikidata.org/wiki/Q847073","display_name":"Euclidean distance","level":2,"score":0.2687999904155731},{"id":"https://openalex.org/C46686674","wikidata":"https://www.wikidata.org/wiki/Q466303","display_name":"Boosting (machine learning)","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.25850000977516174},{"id":"https://openalex.org/C77052588","wikidata":"https://www.wikidata.org/wiki/Q644307","display_name":"Constant false alarm rate","level":2,"score":0.25279998779296875},{"id":"https://openalex.org/C118732077","wikidata":"https://www.wikidata.org/wiki/Q273176","display_name":"Normal","level":3,"score":0.2513999938964844},{"id":"https://openalex.org/C31510193","wikidata":"https://www.wikidata.org/wiki/Q1192553","display_name":"Facial recognition system","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3609614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3609614","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":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6096198558807373}],"awards":[{"id":"https://openalex.org/G1123105928","display_name":null,"funder_award_id":"U22B2041","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G692502946","display_name":null,"funder_award_id":"62173056","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":25,"referenced_works":["https://openalex.org/W2115579991","https://openalex.org/W2335829695","https://openalex.org/W2938170127","https://openalex.org/W2963296245","https://openalex.org/W3039808820","https://openalex.org/W3168086592","https://openalex.org/W3201256746","https://openalex.org/W3211389689","https://openalex.org/W4210423514","https://openalex.org/W4287177477","https://openalex.org/W4309591753","https://openalex.org/W4315778466","https://openalex.org/W4317796409","https://openalex.org/W4383066341","https://openalex.org/W4383097620","https://openalex.org/W4383108448","https://openalex.org/W4384916349","https://openalex.org/W4388755261","https://openalex.org/W4388820033","https://openalex.org/W4390778110","https://openalex.org/W4402300097","https://openalex.org/W4404238397","https://openalex.org/W4406856942","https://openalex.org/W4406947749","https://openalex.org/W4407638210"],"related_works":[],"abstract_inverted_index":{"The":[0],"place":[1,41,54],"recognition":[2,37,42,55],"capabilities":[3],"for":[4,49],"long-term":[5],"autonomous":[6],"navigation":[7],"of":[8,23,31,86,178],"mobile":[9],"robots":[10],"face":[11],"multiple":[12],"challenges,":[13],"including":[14],"degradation":[15],"environments,":[16],"dynamic":[17],"disturbances,":[18],"and":[19,36,51,89,106,112,120,133,144,164],"limited":[20],"computational":[21,64],"resources":[22],"edge":[24],"devices.":[25],"This":[26],"letter":[27],"addresses":[28],"the":[29,160,169,175,191],"challenge":[30],"improving":[32],"feature":[33],"extraction":[34],"efficiency":[35,134],"accuracy":[38,132],"in":[39,97,140,159,168,199],"LiDAR-based":[40],"by":[43,108,187],"proposing":[44],"a":[45,100,156,200,206,214],"novel":[46],"multi-thread":[47],"pipeline":[48],"real-time":[50],"robust":[52],"3D":[53],"with":[56,136,205,213],"optimized":[57],"CPU":[58],"parallel":[59,90],"processing,":[60],"which":[61,78],"can":[62],"reduce":[63],"time":[65,186],"significantly.":[66],"Furthermore,":[67,198],"an":[68,165],"adaptive":[69,121],"data":[70,82],"reorganization":[71,83],"strategy":[72],"is":[73,104],"presented":[74],"to":[75,174,190],"improve":[76],"efficiency,":[77],"achieves":[79,130,155],"fast":[80],"projection":[81],"through":[84,115],"pre-marking":[85],"input":[87],"voxels":[88],"processing.":[91],"To":[92],"enhance":[93],"geometric":[94],"matching":[95],"robustness":[96,212],"degenerate":[98],"scenes,":[99],"plane":[101],"suppression":[102],"module":[103],"proposed":[105],"implemented":[107],"integrating":[109],"geodesic":[110],"distance":[111],"kernel":[113],"regularization":[114],"normal":[116],"vector":[117],"manifold":[118],"embedding":[119],"noise":[122],"weighting.":[123],"Experimental":[124],"validation":[125],"shows":[126],"that":[127],"our":[128,153,182,209],"method":[129,154,183,193,210],"superior":[131],"compared":[135,173],"STD,":[137],"ScanContext++,":[138],"BoW3D":[139],"KITTI,":[141],"NCLT,":[142],"Wild-Places,":[143],"Complex":[145],"Urban":[146],"Datasets.":[147],"Specifically,":[148],"while":[149],"maintaining":[150],"100%":[151],"precision,":[152],"350%":[157],"increase":[158,167],"minimum":[161],"recall":[162,171],"rate":[163,172],"11.8%":[166],"average":[170],"best":[176],"results":[177],"other":[179],"methods.":[180],"Additionally,":[181],"reduces":[184],"processing":[185],"54.8%":[188],"relative":[189],"fastest":[192],"(STD)":[194],"across":[195],"all":[196],"sequences.":[197],"real-world":[201],"coal":[202],"bunker":[203],"scenario":[204],"self-built":[207],"drone,":[208],"demonstrates":[211],"95.49%":[215],"successful":[216],"relocalization":[217],"rate,":[218],"calculated":[219],"from":[220],"511":[221],"valid":[222],"frames.":[223]},"counts_by_year":[],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}
