{"id":"https://openalex.org/W2920994809","doi":"https://doi.org/10.1109/robio.2018.8664836","title":"A Novel Global Localization Method Using 3D Laser Range Data in Large-Scale and Sparse Environments","display_name":"A Novel Global Localization Method Using 3D Laser Range Data in Large-Scale and Sparse Environments","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2920994809","doi":"https://doi.org/10.1109/robio.2018.8664836","mag":"2920994809"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8664836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5102859043","display_name":"Ming Zhao","orcid":"https://orcid.org/0000-0003-2502-5522"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ming Zhao","raw_affiliation_strings":["Department of Automation, Ministry of Education of China, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Ministry of Education of China, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083038366","display_name":"Jingchuan Wang","orcid":"https://orcid.org/0000-0002-1943-1535"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jingchuan Wang","raw_affiliation_strings":["Department of Automation, Ministry of Education of China, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Ministry of Education of China, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100357376","display_name":"Weidong Chen","orcid":"https://orcid.org/0000-0001-8757-0679"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weidong Chen","raw_affiliation_strings":["Department of Automation, Ministry of Education of China, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Ministry of Education of China, Shanghai, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107772128","display_name":"Hesheng Wang","orcid":"https://orcid.org/0000-0002-9959-1634"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hesheng Wang","raw_affiliation_strings":["Department of Automation, Ministry of Education of China, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Ministry of Education of China, Shanghai, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102859043"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4436,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.77659047,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"28","issue":null,"first_page":"468","last_page":"473"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9987000226974487,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9966999888420105,"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/particle-filter","display_name":"Particle filter","score":0.770967960357666},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6623555421829224},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6234480738639832},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6230165362358093},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5562793016433716},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5405027866363525},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.5389907956123352},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5247355103492737},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4798021614551544},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3907144367694855},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.38435304164886475},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3824475109577179},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3684816360473633},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.33130818605422974},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33035770058631897},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23905396461486816},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.18392148613929749},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.132451593875885},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07768753170967102}],"concepts":[{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.770967960357666},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6623555421829224},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6234480738639832},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6230165362358093},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5562793016433716},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5405027866363525},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.5389907956123352},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5247355103492737},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4798021614551544},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3907144367694855},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.38435304164886475},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3824475109577179},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3684816360473633},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.33130818605422974},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33035770058631897},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23905396461486816},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.18392148613929749},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.132451593875885},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07768753170967102},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2018.8664836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1577509784","https://openalex.org/W1587957970","https://openalex.org/W1650975994","https://openalex.org/W2045162826","https://openalex.org/W2049981393","https://openalex.org/W2097832352","https://openalex.org/W2101230708","https://openalex.org/W2108833445","https://openalex.org/W2110405746","https://openalex.org/W2131821152","https://openalex.org/W2132311402","https://openalex.org/W2213518912","https://openalex.org/W2296228853","https://openalex.org/W2336416123","https://openalex.org/W2911964244","https://openalex.org/W3083656528"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W2125871801","https://openalex.org/W3126674423","https://openalex.org/W1585960250","https://openalex.org/W2120540633","https://openalex.org/W2123849027","https://openalex.org/W1976194731","https://openalex.org/W2133062384"],"abstract_inverted_index":{"In":[0],"large-scale":[1],"and":[2,10,39,68,145,154,168],"sparse":[3,153],"environments,":[4],"such":[5,31],"as":[6,32,65],"farmlands,":[7],"orchards,":[8],"mines":[9],"electrical":[11,147],"substations,":[12],"global":[13,56,62],"localization":[14,57,63],"based":[15],"on":[16],"particle":[17,123],"filter":[18,124],"framework":[19],"without":[20],"any":[21],"prior":[22,108],"knowledge":[23],"still":[24],"remains":[25],"a":[26,54,82,120],"challenging":[27],"problem.":[28,71],"Some":[29],"issues":[30],"speeding":[33],"up":[34],"the":[35,41,61,76,93,97,103,107,112,117,137,150,161],"convergence":[36,42,166],"of":[37,116,152],"particles":[38],"improving":[40],"accuracy":[43],"in":[44,136],"similar":[45],"scenes":[46,133],"need":[47],"to":[48,80,84,101,110,128],"be":[49],"addressed.":[50],"This":[51],"paper":[52],"proposes":[53],"novel":[55],"method,":[58],"which":[59],"treats":[60],"problem":[64],"place":[66],"recognition":[67],"pose":[69,115],"estimation":[70],"Specifically,":[72],"we":[73],"firstly":[74],"utilize":[75],"random":[77],"forests":[78],"algorithm":[79,125,163],"train":[81],"classifier":[83,98],"predict":[85],"whether":[86],"two":[87,146],"3D":[88],"LiDAR":[89],"observations":[90],"are":[91,134],"from":[92],"same":[94],"place.":[95],"Then,":[96],"is":[99,126],"used":[100],"match":[102],"current":[104],"observation":[105],"with":[106,141,149],"map":[109],"estimate":[111],"possible":[113],"initial":[114],"robot.":[118],"Finally,":[119],"multiple":[121],"hypotheses":[122],"proposed":[127,162],"achieve":[129],"final":[130],"localization.":[131],"Experimental":[132],"selected":[135],"indoor":[138],"parking":[139],"lot":[140],"high":[142],"dynamic":[143],"characteristics":[144,151],"substations":[148],"large-scale.":[155],"The":[156],"experimental":[157],"results":[158],"show":[159],"that":[160],"has":[164],"faster":[165],"speed":[167],"higher":[169],"accuracy.":[170]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
