{"id":"https://openalex.org/W2996029368","doi":"https://doi.org/10.1109/robio49542.2019.8961416","title":"A Robust Stereo Camera Localization Method with Prior LiDAR Map Constrains","display_name":"A Robust Stereo Camera Localization Method with Prior LiDAR Map Constrains","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W2996029368","doi":"https://doi.org/10.1109/robio49542.2019.8961416","mag":"2996029368"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1912.05023","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071835685","display_name":"Dong Han","orcid":"https://orcid.org/0000-0002-0692-6467"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dong Han","raw_affiliation_strings":["Chinese Academy of Sciences,Shenzhen Institutes of Advanced Technology,Shenzhen,China","Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, China#TAB#","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009946627","display_name":"Zuhao Zou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zuhao Zou","raw_affiliation_strings":["Chinese Academy of Sciences,Shenzhen Institutes of Advanced Technology,Shenzhen,China","Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, China#TAB#","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032068842","display_name":"Lujia Wang","orcid":"https://orcid.org/0000-0002-6710-4897"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lujia Wang","raw_affiliation_strings":["Chinese Academy of Sciences,Shenzhen Institutes of Advanced Technology,Shenzhen,China","Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenzhen Institutes of Advanced Technology, Shenzhen, China#TAB#","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012773300","display_name":"Chengzhong Xu","orcid":"https://orcid.org/0000-0001-9480-0356"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Cheng-Zhong Xu","raw_affiliation_strings":["University of Macau"],"affiliations":[{"raw_affiliation_string":"University of Macau","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071835685"],"corresponding_institution_ids":["https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09254416,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2001","last_page":"2006"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9990000128746033,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"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/bundle-adjustment","display_name":"Bundle adjustment","score":0.7991538047790527},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7803617119789124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7707656621932983},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7285875082015991},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6747699975967407},{"id":"https://openalex.org/keywords/coplanarity","display_name":"Coplanarity","score":0.6418611407279968},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6354824900627136},{"id":"https://openalex.org/keywords/cut","display_name":"Cut","score":0.52242511510849},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.4495410621166229},{"id":"https://openalex.org/keywords/computer-stereo-vision","display_name":"Computer stereo vision","score":0.4472191035747528},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4408641755580902},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4391593337059021},{"id":"https://openalex.org/keywords/stereo-cameras","display_name":"Stereo cameras","score":0.41182565689086914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3255370855331421},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2081693708896637},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.17897450923919678},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17838752269744873},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17633184790611267},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1474711298942566},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.124747633934021}],"concepts":[{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.7991538047790527},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7803617119789124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7707656621932983},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7285875082015991},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6747699975967407},{"id":"https://openalex.org/C20625954","wikidata":"https://www.wikidata.org/wiki/Q543533","display_name":"Coplanarity","level":2,"score":0.6418611407279968},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6354824900627136},{"id":"https://openalex.org/C5134670","wikidata":"https://www.wikidata.org/wiki/Q1626444","display_name":"Cut","level":4,"score":0.52242511510849},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.4495410621166229},{"id":"https://openalex.org/C31451488","wikidata":"https://www.wikidata.org/wiki/Q5157586","display_name":"Computer stereo vision","level":3,"score":0.4472191035747528},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4408641755580902},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4391593337059021},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.41182565689086914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3255370855331421},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2081693708896637},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.17897450923919678},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17838752269744873},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17633184790611267},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1474711298942566},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.124747633934021},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/robio49542.2019.8961416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1912.05023","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1912.05023","pdf_url":"https://arxiv.org/pdf/1912.05023","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2996029368","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1912.05023.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-110969","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-110969","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"},{"id":"pmh:oai:repository.ust.hk:1783.1-110969","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=&rft.volume=&rft.issue=&rft.date=2019&rft.spage=2001&rft.aulast=Han&rft.aufirst=&rft.atitle=A+robust+stereo+camera+localization+method+with+prior+LiDAR+map+constrains&rft.title=IEEE+International+Conference+on+Robotics+and+Biomimetics%2C+ROBIO+2019","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"},{"id":"doi:10.48550/arxiv.1912.05023","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1912.05023","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1912.05023","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1912.05023","pdf_url":"https://arxiv.org/pdf/1912.05023","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.75,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2996029368.pdf","grobid_xml":"https://content.openalex.org/works/W2996029368.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W22745672","https://openalex.org/W612478963","https://openalex.org/W1970504153","https://openalex.org/W1977247852","https://openalex.org/W2007448829","https://openalex.org/W2009345891","https://openalex.org/W2014845801","https://openalex.org/W2025004203","https://openalex.org/W2043426163","https://openalex.org/W2054969198","https://openalex.org/W2056168945","https://openalex.org/W2105977269","https://openalex.org/W2108134361","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2160072137","https://openalex.org/W2171930081","https://openalex.org/W2241066785","https://openalex.org/W2343884055","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2564085365","https://openalex.org/W2605103573","https://openalex.org/W2740634181","https://openalex.org/W2889552994","https://openalex.org/W2909955272","https://openalex.org/W2911450448","https://openalex.org/W2963184124","https://openalex.org/W2964307318","https://openalex.org/W2982368326","https://openalex.org/W3102327032","https://openalex.org/W3147140600","https://openalex.org/W3150315428","https://openalex.org/W6661082275","https://openalex.org/W6704789403","https://openalex.org/W6754411830","https://openalex.org/W6769678229"],"related_works":["https://openalex.org/W3001669146","https://openalex.org/W2791994378","https://openalex.org/W2946314449","https://openalex.org/W3162996633","https://openalex.org/W2948744044","https://openalex.org/W3177946384","https://openalex.org/W2968485676","https://openalex.org/W3197054068","https://openalex.org/W2564931861","https://openalex.org/W2920980026","https://openalex.org/W3210107545","https://openalex.org/W2946966373","https://openalex.org/W3196481358","https://openalex.org/W3134205853","https://openalex.org/W2897323976","https://openalex.org/W2910407172","https://openalex.org/W2592664700","https://openalex.org/W2964796155","https://openalex.org/W2908857594","https://openalex.org/W1208371261"],"abstract_inverted_index":{"In":[0,28,49],"complex":[1],"environments,":[2],"low-cost":[3],"and":[4,44,87,109,152],"robust":[5,151],"localization":[6,33,57,70],"is":[7,26,92,149],"a":[8,14,54,74,105,110,118],"challenging":[9],"problem.":[10],"For":[11],"example,":[12],"in":[13],"GPSdenied":[15],"environment,":[16],"LiDAR":[17,63,85],"can":[18],"provide":[19],"accurate":[20,153],"position":[21],"information,":[22],"but":[23],"the":[24,38,61,67,84,100,131,133,140,155],"cost":[25],"high.":[27],"general,":[29],"visual":[30,56,69,76,88],"SLAM":[31],"based":[32,59],"methods":[34,46],"become":[35],"unreliable":[36],"when":[37],"sunlight":[39],"changes":[40],"greatly.":[41],"Therefore,":[42],"inexpensive":[43],"reliable":[45],"are":[47],"required.":[48],"this":[50],"paper,":[51],"we":[52,72,103,116],"propose":[53],"stereo":[55],"method":[58,135,148],"on":[60,139],"prior":[62],"map.":[64],"Different":[65],"from":[66],"conventional":[68],"system,":[71],"design":[73],"novel":[75],"optimization":[77,101,107,113],"model":[78],"by":[79,94],"matching":[80],"planar":[81],"information":[82],"between":[83],"map":[86],"image.":[89],"Bundle":[90],"adjustment":[91],"built":[93],"using":[95],"coplanarity":[96],"constraints.":[97],"To":[98,129],"solve":[99],"problem,":[102],"use":[104],"graph-based":[106],"algorithm":[108],"local":[111],"window":[112],"method.":[114],"Finally,":[115],"estimate":[117],"full":[119],"six":[120],"degrees":[121],"of":[122],"freedom":[123],"(DOF)":[124],"pose":[125],"without":[126],"scale":[127],"drift.":[128],"validate":[130],"efficiency,":[132],"proposed":[134],"has":[136],"been":[137],"tested":[138],"KITTI":[141],"dataset.":[142],"The":[143],"results":[144],"show":[145],"that":[146],"our":[147],"more":[150],"than":[154],"state-of-art":[156],"ORB-SLAM2.":[157]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}
