{"id":"https://openalex.org/W3198517319","doi":"https://doi.org/10.1109/rcar52367.2021.9517367","title":"Semantic Scan Context: Global Semantic Descriptor for LiDAR-based Place Recognition","display_name":"Semantic Scan Context: Global Semantic Descriptor for LiDAR-based Place Recognition","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3198517319","doi":"https://doi.org/10.1109/rcar52367.2021.9517367","mag":"3198517319"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517367","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100341654","display_name":"Yuxiang Li","orcid":"https://orcid.org/0000-0002-7598-6172"},"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":"Yuxiang Li","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060880365","display_name":"Pengpeng Su","orcid":"https://orcid.org/0000-0001-8163-7721"},"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":"Pengpeng Su","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061006460","display_name":"Ming Cao","orcid":"https://orcid.org/0000-0002-2659-3479"},"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":"Ming Cao","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014650642","display_name":"Haoyao Chen","orcid":"https://orcid.org/0000-0002-5945-6411"},"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":"Haoyao Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049522782","display_name":"Xin Jiang","orcid":"https://orcid.org/0000-0003-3030-2694"},"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":"Xin Jiang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["The Chinese University of Hong Kong, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, P.R. China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"251","last_page":"256"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9988999962806702,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9948999881744385,"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/computer-science","display_name":"Computer science","score":0.7861814498901367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6669015288352966},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6060501933097839},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.5850321650505066},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5814151763916016},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5631874799728394},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5268287062644958},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.48956212401390076},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.47756248712539673},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.44623878598213196},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.43338465690612793},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.4317849278450012},{"id":"https://openalex.org/keywords/precision-and-recall","display_name":"Precision and recall","score":0.41527464985847473},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.24061688780784607},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.17732146382331848},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10676687955856323},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10029998421669006}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7861814498901367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6669015288352966},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6060501933097839},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.5850321650505066},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5814151763916016},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5631874799728394},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5268287062644958},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.48956212401390076},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.47756248712539673},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.44623878598213196},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.43338465690612793},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.4317849278450012},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.41527464985847473},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.24061688780784607},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.17732146382331848},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10676687955856323},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10029998421669006},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517367","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G3980671298","display_name":null,"funder_award_id":"U1713206","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":23,"referenced_works":["https://openalex.org/W1989484209","https://openalex.org/W2035420386","https://openalex.org/W2117228865","https://openalex.org/W2518534307","https://openalex.org/W2527172881","https://openalex.org/W2560609797","https://openalex.org/W2565998037","https://openalex.org/W2620629206","https://openalex.org/W2798278946","https://openalex.org/W2884148180","https://openalex.org/W2892028890","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2951019013","https://openalex.org/W2951249805","https://openalex.org/W2963046720","https://openalex.org/W2963324085","https://openalex.org/W2963713713","https://openalex.org/W2991216808","https://openalex.org/W2997664652","https://openalex.org/W3003437478","https://openalex.org/W3099455272","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4210818033"],"abstract_inverted_index":{"Place":[0],"recognition":[1],"plays":[2],"an":[3],"important":[4],"role":[5],"in":[6,39,49],"a":[7,64,96,110,172],"typical":[8],"simultaneously":[9],"localization":[10],"and":[11,36,73,85,159],"mapping(SLAM)":[12],"framework,":[13],"which":[14],"allows":[15],"the":[16,22,43,50,92,103,117,121,130],"autonomous":[17],"mobile":[18],"robot":[19],"to":[20,33,115,128],"identify":[21],"revisited":[23,142],"places.":[24,134],"Recently,":[25],"emerging":[26],"researches":[27],"focus":[28],"on":[29,69,156],"incorporating":[30],"geometry":[31,46],"features":[32,47],"achieve":[34],"accurate":[35],"view-invariant":[37],"relocalization":[38],"outdoor":[40],"environment.":[41],"However,":[42],"ambiguity":[44],"of":[45,95,132,138,151],"occurs":[48],"scenes":[51],"with":[52,161],"similar":[53],"objects.":[54],"To":[55],"address":[56],"this":[57],"problem,":[58],"we":[59,108],"propose":[60],"Semantic":[61],"Scan":[62],"Context,":[63],"noval":[65],"global":[66],"descriptor":[67,88],"based":[68],"3D":[70,97],"LiDAR":[71,98],"scans":[72],"static":[74],"semantic":[75,104],"information":[76],"such":[77],"as":[78],"trunks,":[79],"poles,":[80],"traffic":[81],"signs,":[82],"buildings,":[83],"roads":[84],"sidewalks.":[86],"This":[87],"not":[89],"only":[90],"records":[91],"geometrical":[93],"structure":[94],"scan,":[99],"but":[100],"also":[101],"encodes":[102],"distribution":[105],"information.":[106],"Furthermore,":[107],"introduce":[109],"coarse-to-fine":[111],"hierarchical":[112],"retrieval":[113],"method":[114,153,170],"realize":[116],"efficient":[118],"matching":[119],"for":[120],"proposed":[122,152],"descriptors.":[123],"We":[124],"define":[125],"three":[126,140],"distances":[127],"measure":[129],"similarity":[131],"two":[133],"By":[135],"weighted":[136],"sum":[137],"these":[139],"distances,":[141],"places":[143],"can":[144],"be":[145],"exactly":[146],"determined.":[147],"The":[148,164],"recall-precision":[149],"curve":[150],"is":[154],"evaluated":[155],"public":[157],"datasets":[158],"compared":[160],"existing":[162],"methods.":[163],"experimental":[165],"results":[166],"proof":[167],"that":[168],"our":[169],"achieves":[171],"competitive":[173],"re-identification":[174],"performance.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}