{"id":"https://openalex.org/W4411232816","doi":"https://doi.org/10.1109/plans61210.2025.11028497","title":"Semantic LiDAR Point Cloud Mapping and Cloud-Based SLAM for Autonomous Driving","display_name":"Semantic LiDAR Point Cloud Mapping and Cloud-Based SLAM for Autonomous Driving","publication_year":2025,"publication_date":"2025-04-28","ids":{"openalex":"https://openalex.org/W4411232816","doi":"https://doi.org/10.1109/plans61210.2025.11028497"},"language":"en","primary_location":{"id":"doi:10.1109/plans61210.2025.11028497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/plans61210.2025.11028497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)","raw_type":"proceedings-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/A5021056209","display_name":"Franz Andert","orcid":"https://orcid.org/0000-0002-1638-7735"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Franz Andert","raw_affiliation_strings":["German Aerospace Center (DLR),Institute of Transportation Systems,Berlin/Braunschweig,Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR),Institute of Transportation Systems,Berlin/Braunschweig,Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118245934","display_name":"Oliver B\u00f6ttcher","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver B\u00f6ttcher","raw_affiliation_strings":["German Aerospace Center (DLR),Institute of Transportation Systems,Berlin/Braunschweig,Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR),Institute of Transportation Systems,Berlin/Braunschweig,Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118245935","display_name":"Aditya Mushyam","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Aditya Mushyam","raw_affiliation_strings":["German Aerospace Center (DLR),Institute of Transportation Systems,Berlin/Braunschweig,Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR),Institute of Transportation Systems,Berlin/Braunschweig,Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5116732457","display_name":"Philipp M. Schm\u00e4lzle","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Philipp Schm\u00e4lzle","raw_affiliation_strings":["German Aerospace Center (DLR),Institute of Transportation Systems,Berlin/Braunschweig,Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR),Institute of Transportation Systems,Berlin/Braunschweig,Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021056209"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06280155,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"853","last_page":"860"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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":0.9983000159263611,"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":0.9968000054359436,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9886000156402588,"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/point-cloud","display_name":"Point cloud","score":0.7894986271858215},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.7313826084136963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7232489585876465},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6710936427116394},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4618600308895111},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.41724878549575806},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37909215688705444},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.365946888923645},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13716569542884827},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12892910838127136},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1193404495716095}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7894986271858215},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.7313826084136963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7232489585876465},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6710936427116394},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4618600308895111},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.41724878549575806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37909215688705444},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.365946888923645},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13716569542884827},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12892910838127136},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1193404495716095},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/plans61210.2025.11028497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/plans61210.2025.11028497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:214130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/PLANS61210.2025.11028497>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1536078990","https://openalex.org/W1989838848","https://openalex.org/W2051701685","https://openalex.org/W2152864241","https://openalex.org/W2296228853","https://openalex.org/W2296267969","https://openalex.org/W2412782625","https://openalex.org/W2528951757","https://openalex.org/W2554770308","https://openalex.org/W2750632489","https://openalex.org/W2793706456","https://openalex.org/W2900783762","https://openalex.org/W2903881395","https://openalex.org/W2909908358","https://openalex.org/W2963926549","https://openalex.org/W2982650630","https://openalex.org/W2983852731","https://openalex.org/W2999754294","https://openalex.org/W3003437478","https://openalex.org/W3118408399","https://openalex.org/W3119783965","https://openalex.org/W3130841052","https://openalex.org/W4205629240","https://openalex.org/W4380053223","https://openalex.org/W4391805728","https://openalex.org/W4401878919","https://openalex.org/W4402630583","https://openalex.org/W6761320057","https://openalex.org/W6780411392","https://openalex.org/W6791229496","https://openalex.org/W7017087678","https://openalex.org/W7062247489"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W4212966960","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W3196708299","https://openalex.org/W3126674423"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,25,111,155],"strategy":[4],"towards":[5],"reliable":[6],"LiDAR-based":[7],"navigation":[8,91],"for":[9,46],"applications":[10],"as":[11],"self-driving":[12],"cars":[13,58],"in":[14,100,105,110,127,141],"urban":[15,129],"canyons":[16],"with":[17,64,122],"limited":[18],"GNSS":[19],"availability.":[20],"The":[21,115],"general":[22],"idea":[23,85],"is":[24,120,139],"cloud":[26,35,66],"service":[27,67],"which":[28,68],"provides":[29],"updated,":[30],"large-scalable,":[31],"and":[32,43,61,74,79,96,104,131],"geo-referenced":[33],"point":[34],"maps.":[36],"Vehicles":[37],"can":[38,133],"download":[39],"snapshots":[40],"on":[41,154],"demand":[42],"use":[44],"them":[45,63],"map-based":[47],"positioning.":[48],"On":[49],"the":[50,54,65,71,106],"mapping":[51,75,78],"side":[52],"of":[53,117],"network,":[55],"multiple":[56],"connected":[57],"collect":[59],"data":[60,72],"share":[62],"performs":[69],"all":[70],"fusion":[73],"tasks.":[76],"While":[77],"localization":[80],"are":[81],"state-of-the-art,":[82],"this":[83,118],"SLAM-as-a-Service":[84],"now":[86],"allows":[87],"to":[88,143],"scale":[89],"SLAM-based":[90],"into":[92],"arbitrary":[93],"large":[94],"areas,":[95],"it":[97,132],"solves":[98],"issues":[99],"positioning":[101,148],"error":[102],"accumulation":[103],"very":[107],"first":[108],"drives":[109],"previously":[112],"unknown":[113],"environment.":[114],"implementation":[116],"approach":[119],"tested":[121],"an":[123],"experimental":[124],"vehicle":[125],"driven":[126],"real":[128],"traffic,":[130],"be":[134],"shown":[135],"that":[136],"state":[137],"estimation":[138],"improved":[140],"relation":[142],"GNSS.":[144],"With":[145],"good":[146],"mapping,":[147],"returns":[149],"15":[150],"cm":[151],"geodetic":[152],"accuracy":[153],"smooth":[156],"trajectory":[157],"without":[158],"GNSS-typical":[159],"position":[160],"jumps.":[161]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}