{"id":"https://openalex.org/W3138983366","doi":"https://doi.org/10.1109/robio54168.2021.9739599","title":"Pole-like Objects Mapping and Long-Term Robot Localization in Dynamic Urban Scenarios","display_name":"Pole-like Objects Mapping and Long-Term Robot Localization in Dynamic Urban Scenarios","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W3138983366","doi":"https://doi.org/10.1109/robio54168.2021.9739599","mag":"3138983366"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739599","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":"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/A5062898532","display_name":"Zhihao Wang","orcid":"https://orcid.org/0000-0002-1353-3370"},"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":"Zhihao Wang","raw_affiliation_strings":["Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,P.R. China","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,P.R. China","institution_ids":["https://openalex.org/I204983213"]},{"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/A5103037806","display_name":"Silin Li","orcid":"https://orcid.org/0000-0002-4543-1141"},"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":"Silin Li","raw_affiliation_strings":["Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,P.R. China","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,P.R. China","institution_ids":["https://openalex.org/I204983213"]},{"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":["Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,P.R. China","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,P.R. China","institution_ids":["https://openalex.org/I204983213"]},{"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":["Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,P.R. China","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,P.R. China","institution_ids":["https://openalex.org/I204983213"]},{"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/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":"Yunhui Liu","raw_affiliation_strings":["Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,P.R. China","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,P.R. China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"998","last_page":"1003"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9979000091552734,"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":0.9976000189781189,"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/computer-science","display_name":"Computer science","score":0.7637736797332764},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7344710230827332},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6856781840324402},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6520875692367554},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5945728421211243},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5261169075965881},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5253702402114868},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.5234072804450989},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4951421320438385},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4766339063644409},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.44532105326652527},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.4451180100440979},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.42445626854896545},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3853877782821655},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37616872787475586},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2355186939239502},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16437140107154846},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08533540368080139}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7637736797332764},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7344710230827332},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6856781840324402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6520875692367554},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5945728421211243},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5261169075965881},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5253702402114868},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.5234072804450989},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4951421320438385},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4766339063644409},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.44532105326652527},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.4451180100440979},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.42445626854896545},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3853877782821655},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37616872787475586},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2355186939239502},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16437140107154846},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08533540368080139},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739599","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":[{"score":0.8500000238418579,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1973080743","https://openalex.org/W2152864241","https://openalex.org/W2296228853","https://openalex.org/W2335829695","https://openalex.org/W2565029242","https://openalex.org/W2770683484","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2914921243","https://openalex.org/W2952038393","https://openalex.org/W2977058688","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3089353397","https://openalex.org/W3099455272","https://openalex.org/W3100634571","https://openalex.org/W3102327032","https://openalex.org/W3111722248","https://openalex.org/W3129245057","https://openalex.org/W3132982513"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","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/W4313288997","https://openalex.org/W2807473852"],"abstract_inverted_index":{"Localization":[0],"on":[1,48,143],"3D":[2,137],"data":[3],"is":[4,52,60,99,168],"a":[5,42],"challenging":[6],"task":[7],"for":[8,32],"unmanned":[9,33,91],"vehicles,":[10],"especially":[11],"in":[12,36,154],"long-term":[13,22,43],"dynamic":[14],"urban":[15],"scenarios.":[16,38],"Due":[17],"to":[18,62,131],"the":[19,24,56,64,72,76,90,94,97,103,109,112,116,119,126,133,136,149,159],"generality":[20],"and":[21,82,121],"stability,":[23],"pole-like":[25],"objects":[26,78],"are":[27,80],"very":[28],"suitable":[29],"as":[30],"landmarks":[31],"vehicle":[34,92],"localization":[35,45,155],"time-varying":[37],"In":[39],"this":[40,166],"paper,":[41],"LiDAR-only":[44],"algorithm":[46],"based":[47],"semantic":[49,86],"cluster":[50,87],"map":[51],"proposed.":[53],"At":[54],"first,":[55],"Convolutional":[57],"Neural":[58],"Network(CNN)":[59],"used":[61],"infer":[63],"semantics":[65],"of":[66,105,111,135,165],"LiDAR":[67,138],"point":[68,73],"clouds.":[69],"Combined":[70],"with":[71,108,158],"cloud":[74],"segmentation,":[75],"static":[77],"pole/trunk":[79],"extracted":[81],"registered":[83],"into":[84],"global":[85,113,122,127],"map.":[88,114],"When":[89],"re-enters":[93],"environment":[95],"again,":[96],"relocalization":[98],"completed":[100],"by":[101],"matching":[102,117],"clusters":[104,110],"current":[106,160],"scan":[107],"Furthermore,":[115],"between":[118],"local":[120],"maps":[123],"stably":[124],"outputs":[125],"pose":[128],"at":[129],"2Hz":[130],"correct":[132],"drift":[134],"odometry.":[139],"The":[140,163],"experimental":[141],"results":[142],"our":[144],"campus":[145],"dataset":[146],"demonstrate":[147],"that":[148],"proposed":[150],"approach":[151],"performs":[152],"better":[153],"accuracy":[156],"compared":[157],"state-of-the-art":[161],"methods.":[162],"source":[164],"paper":[167],"available":[169],"at:":[170],"http://www.github.com/HITSZ-NRSL/long-term-localization.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
