{"id":"https://openalex.org/W4225944264","doi":"https://doi.org/10.1109/robio54168.2021.9739475","title":"Visual Localization in a Prior 3D LiDAR Map Combining Points and Lines","display_name":"Visual Localization in a Prior 3D LiDAR Map Combining Points and Lines","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4225944264","doi":"https://doi.org/10.1109/robio54168.2021.9739475"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739475","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5028197500","display_name":"Guangzhao Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guangzhao Zhou","raw_affiliation_strings":["Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030513073","display_name":"Haihui Yuan","orcid":"https://orcid.org/0000-0003-3404-4039"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haihui Yuan","raw_affiliation_strings":["Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039356472","display_name":"Shiqiang Zhu","orcid":"https://orcid.org/0000-0002-5687-4001"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqiang Zhu","raw_affiliation_strings":["Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101695947","display_name":"Zhiyong Huang","orcid":"https://orcid.org/0000-0002-6329-4427"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Huang","raw_affiliation_strings":["Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026708170","display_name":"Yanfu Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanfu Fan","raw_affiliation_strings":["Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053126143","display_name":"Xinliang Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinliang Zhong","raw_affiliation_strings":["Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060723894","display_name":"Ruilong Du","orcid":"https://orcid.org/0000-0002-2575-324X"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruilong Du","raw_affiliation_strings":["Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100562972","display_name":"Jianjun Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Gu","raw_affiliation_strings":["Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab,Hang Zhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center of Zhejiang Lab, Hang Zhou, China","institution_ids":["https://openalex.org/I4210123185"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5028197500"],"corresponding_institution_ids":["https://openalex.org/I4210123185"],"apc_list":null,"apc_paid":null,"fwci":0.4172,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.56973528,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1198","last_page":"1203"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9970999956130981,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8111523985862732},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7827572226524353},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7346535921096802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6706967353820801},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6679201722145081},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5617431402206421},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.45055508613586426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37638962268829346},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.189011812210083},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1545480191707611},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15094345808029175}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8111523985862732},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7827572226524353},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7346535921096802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6706967353820801},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6679201722145081},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5617431402206421},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.45055508613586426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37638962268829346},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.189011812210083},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1545480191707611},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15094345808029175},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739475","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W169439271","https://openalex.org/W1999343901","https://openalex.org/W2031710259","https://openalex.org/W2054969198","https://openalex.org/W2067776366","https://openalex.org/W2075806403","https://openalex.org/W2115271576","https://openalex.org/W2149668583","https://openalex.org/W2150066425","https://openalex.org/W2150804191","https://openalex.org/W2241066785","https://openalex.org/W2296228853","https://openalex.org/W2396274919","https://openalex.org/W2522940611","https://openalex.org/W2535547924","https://openalex.org/W2562901599","https://openalex.org/W2564632156","https://openalex.org/W2567328166","https://openalex.org/W2745859992","https://openalex.org/W2772641132","https://openalex.org/W2796916234","https://openalex.org/W2909908358","https://openalex.org/W2909955272","https://openalex.org/W2910034837","https://openalex.org/W2938818630","https://openalex.org/W2953809838","https://openalex.org/W2954297243","https://openalex.org/W2963200201","https://openalex.org/W3102327032","https://openalex.org/W3103957575","https://openalex.org/W3129245057","https://openalex.org/W3130129454","https://openalex.org/W3133648073","https://openalex.org/W4249866455","https://openalex.org/W6606837808","https://openalex.org/W6682190575","https://openalex.org/W6697304529","https://openalex.org/W6758051168","https://openalex.org/W7039405679"],"related_works":["https://openalex.org/W4313854656","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W4308497005"],"abstract_inverted_index":{"Robot":[0],"localization":[1,33,47,67],"in":[2,23,68,77,95],"a":[3,62,69],"prior":[4],"map":[5,72],"is":[6],"critical":[7],"for":[8],"vision-based":[9],"navigation.":[10],"Currently,":[11],"visual":[12,66],"and":[13,42,45,57,64,75,91,105,119,127,141,160],"visual-inertial":[14],"odometry":[15],"(VO&VIO)":[16],"research":[17],"has":[18],"made":[19],"great":[20],"progress,":[21],"but":[22],"the":[24,46,87,96,135,154],"absence":[25],"of":[26,138],"closed":[27],"loop,":[28],"drift":[29],"inevitably":[30],"accumulates.":[31],"The":[32,124],"method":[34],"using":[35,49],"only":[36,50],"3D":[37,70,81,88,108],"points":[38,74,109,118],"had":[39,53],"low":[40],"accuracy":[41],"scale":[43],"drift,":[44],"algorithm":[48,145],"straight":[51],"lines":[52,76,82,94,120,140],"weak":[54],"generalization":[55],"ability":[56],"poor":[58],"robustness.":[59],"We":[60],"propose":[61],"innovative":[63],"efficient":[65],"LiDAR":[71],"combining":[73],"this":[78],"article.":[79],"First,":[80],"are":[83,99,129],"extracted":[84,100],"offline":[85],"from":[86,110],"lidar":[89],"map,":[90],"robust":[92],"2D":[93],"raw":[97],"image":[98],"online.":[101],"Prediction":[102],"by":[103,133],"Pose":[104],"reconstructed":[106],"sparse":[107],"VIO":[111],"or":[112],"VO,":[113],"we":[114],"can":[115],"efficiently":[116],"obtain":[117],"coarse":[121],"correspondences":[122,128],"respectively.":[123],"camera":[125],"poses":[126],"then":[130],"iteratively":[131],"optimized":[132],"minimizing":[134],"reprojection":[136],"errors":[137],"2D-3D":[139],"3D-3D":[142],"points.":[143],"Our":[144],"shows":[146],"better":[147],"results":[148],"compared":[149],"to":[150],"state-of-the-art":[151],"methods":[152],"on":[153],"EuRoC":[155],"MAV":[156],"dataset,":[157],"self-collection":[158],"dataset":[159,162],"KITTI":[161],"without":[163],"accumulated":[164],"drifts.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}