{"id":"https://openalex.org/W7128808007","doi":"https://doi.org/10.1109/lra.2026.3664532","title":"Monocular Localization With Vector HD Maps Using Geometric-Context Data Association","display_name":"Monocular Localization With Vector HD Maps Using Geometric-Context Data Association","publication_year":2026,"publication_date":"2026-02-13","ids":{"openalex":"https://openalex.org/W7128808007","doi":"https://doi.org/10.1109/lra.2026.3664532"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3664532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664532","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/A5100358225","display_name":"Xiaojing Liu","orcid":"https://orcid.org/0000-0002-9712-2324"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xinhao Liu","raw_affiliation_strings":["School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125904210","display_name":"Shaowu Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaowu Cheng","raw_affiliation_strings":["School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125890639","display_name":"Zizhen Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zizhen Gu","raw_affiliation_strings":["School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125941562","display_name":"Siqin Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqin Chen","raw_affiliation_strings":["School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125926549","display_name":"Yong Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Zhao","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100358225"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.65272034,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4705","last_page":"4712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5293999910354614,"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":0.5293999910354614,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.2777999937534332,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.053300000727176666,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/robustness","display_name":"Robustness (evolution)","score":0.7418000102043152},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5557000041007996},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5123000144958496},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4936999976634979},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.43810001015663147},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.4004000127315521},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.3903000056743622},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.37119999527931213}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7452999949455261},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7418000102043152},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6547999978065491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6298999786376953},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5557000041007996},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5123000144958496},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4936999976634979},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.43810001015663147},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.4004000127315521},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.3903000056743622},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.37119999527931213},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.3601999878883362},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.35679998993873596},{"id":"https://openalex.org/C142853389","wikidata":"https://www.wikidata.org/wiki/Q744778","display_name":"Association (psychology)","level":2,"score":0.3160000145435333},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.29249998927116394},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.27970001101493835},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.2533000111579895},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.25220000743865967},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.25220000743865967}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3664532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664532","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":0.8282303214073181,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Due":[0],"to":[1,91,135,153],"their":[2],"low":[3],"cost":[4],"and":[5,36,56,86,104,126,149,158,178,185],"wide":[6],"field":[7],"of":[8,47,89],"view,":[9],"monocular":[10,66],"cameras":[11],"hold":[12],"great":[13],"promise":[14],"for":[15,76,109],"visual":[16],"localization.":[17,190],"Nevertheless,":[18],"significant":[19],"challenges":[20],"persist":[21],"in":[22,52,166,187],"associating":[23],"detected":[24],"semantic":[25],"features":[26],"with":[27,69],"map":[28],"landmarks,":[29,48],"arising":[30],"from":[31,121],"sensing":[32],"noise,":[33],"depth":[34],"cues,":[35],"dynamic":[37],"driving":[38],"scenes.":[39],"Most":[40],"existing":[41],"approaches":[42],"neglect":[43],"the":[44,106,113,122,142,179,182],"contextual":[45],"properties":[46],"which":[49],"may":[50],"result":[51],"incorrect":[53],"data":[54,77],"association":[55],"degrade":[57],"localization":[58,67,151],"performance.":[59],"In":[60,112],"response,":[61],"this":[62],"paper":[63],"proposes":[64],"a":[65,93,127,147],"method":[68,80],"vector":[70,123],"High-Definition":[71],"(HD)":[72],"maps":[73],"using":[74],"geometric-context":[75],"association.":[78,111],"The":[79],"integrates":[81],"local":[82],"positions,":[83],"spatial":[84],"layout,":[85],"geometric":[87],"shapes":[88],"landmarks":[90],"construct":[92],"normalized":[94],"weighted":[95],"error":[96],"model,":[97],"while":[98],"incorporating":[99],"an":[100],"outlier":[101],"removal":[102],"strategy":[103],"applying":[105],"Hungarian":[107],"algorithm":[108],"robust":[110],"optimization":[114],"phase,":[115],"ground":[116,130],"plane":[117,131],"information":[118],"is":[119,133],"extracted":[120],"HD":[124],"maps,":[125],"structural":[128],"score-based":[129],"constraint":[132],"introduced":[134],"improve":[136],"z-axis":[137],"estimation":[138],"accuracy.":[139],"Based":[140],"on":[141],"proposed":[143],"approach,":[144],"we":[145],"build":[146],"flexible":[148],"modular":[150],"system":[152],"accommodate":[154],"various":[155],"sensor":[156],"configurations":[157],"onboard":[159],"computational":[160],"resources.":[161],"We":[162],"conducted":[163],"extensive":[164],"experiments":[165],"typical":[167],"urban":[168,189],"road":[169],"scenarios":[170],"as":[171,173],"well":[172],"challenging":[174],"spiral":[175],"on-ramp":[176],"scenarios,":[177],"results":[180],"demonstrate":[181],"system's":[183],"accuracy":[184],"robustness":[186],"autonomous":[188]},"counts_by_year":[],"updated_date":"2026-03-03T06:13:14.889584","created_date":"2026-02-14T00:00:00"}
