{"id":"https://openalex.org/W7131099877","doi":"https://doi.org/10.1109/robio66223.2025.11376127","title":"Multi-Scale Triplet Descriptors for Global LiDAR Localization with Maximum Clique-Based Enhancement","display_name":"Multi-Scale Triplet Descriptors for Global LiDAR Localization with Maximum Clique-Based Enhancement","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131099877","doi":"https://doi.org/10.1109/robio66223.2025.11376127"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11376127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5045947808","display_name":"Shuyue Lin","orcid":"https://orcid.org/0000-0002-2801-0257"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shuyue Lin","raw_affiliation_strings":["City University of Hong Kong,Department of Mechanical Engineering,Kowloon,Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Mechanical Engineering,Kowloon,Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014790319","display_name":"J Q Li","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jinsong Li","raw_affiliation_strings":["City University of Hong Kong,Department of Mechanical Engineering,Kowloon,Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Mechanical Engineering,Kowloon,Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101423177","display_name":"Yuxiang Sun","orcid":"https://orcid.org/0000-0003-0165-7664"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuxiang Sun","raw_affiliation_strings":["City University of Hong Kong,Department of Mechanical Engineering,Kowloon,Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Mechanical Engineering,Kowloon,Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"303","last_page":"308"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.3779999911785126,"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":0.3779999911785126,"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":0.2451999932527542,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.18880000710487366,"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/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5882999897003174},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5566999912261963},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5224000215530396},{"id":"https://openalex.org/keywords/vertex","display_name":"Vertex (graph theory)","score":0.5037999749183655},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.48739999532699585},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.42559999227523804},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.375900000333786}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6714000105857849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6111999750137329},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5882999897003174},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5566999912261963},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5224000215530396},{"id":"https://openalex.org/C80899671","wikidata":"https://www.wikidata.org/wiki/Q1304193","display_name":"Vertex (graph theory)","level":3,"score":0.5037999749183655},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.48739999532699585},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44020000100135803},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.42559999227523804},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.375900000333786},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.3328999876976013},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.3158999979496002},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.30660000443458557},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.29249998927116394},{"id":"https://openalex.org/C193536780","wikidata":"https://www.wikidata.org/wiki/Q1513153","display_name":"Edge detection","level":4,"score":0.2809999883174896},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26969999074935913},{"id":"https://openalex.org/C49781872","wikidata":"https://www.wikidata.org/wiki/Q1045555","display_name":"Maximum likelihood","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.25929999351501465}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11376127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5751357483","display_name":null,"funder_award_id":"9231601","funder_id":"https://openalex.org/F4320309893","funder_display_name":"City University of Hong Kong"}],"funders":[{"id":"https://openalex.org/F4320309893","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2153054365","https://openalex.org/W3111598592","https://openalex.org/W3130684120","https://openalex.org/W3138171450","https://openalex.org/W3177330511","https://openalex.org/W3206411252","https://openalex.org/W3211389689","https://openalex.org/W3216379004","https://openalex.org/W4205754798","https://openalex.org/W4226275201","https://openalex.org/W4281767268","https://openalex.org/W4312584283","https://openalex.org/W4312961455","https://openalex.org/W4313327296","https://openalex.org/W4383066341","https://openalex.org/W4391216062","https://openalex.org/W4391769582","https://openalex.org/W4392299874","https://openalex.org/W4392515775","https://openalex.org/W4393032818","https://openalex.org/W4393864935","https://openalex.org/W4398151456","https://openalex.org/W4400314601","https://openalex.org/W4401414466","https://openalex.org/W4405081529","https://openalex.org/W4405811743","https://openalex.org/W4409129460"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"accurate":[4],"and":[5,69,131],"robust":[6],"global":[7,18,22],"localization":[8],"system":[9],"by":[10],"matching":[11],"a":[12,17,35,85],"single":[13],"LiDAR":[14],"scan":[15],"against":[16],"map.":[19],"To":[20,76],"enhance":[21,67],"pose":[23,132],"estimation":[24,133],"accuracy":[25,95],"in":[26,96,104,125],"environments":[27],"with":[28,47],"sparse":[29,97],"semantic":[30,98],"information,":[31],"we":[32,82],"first":[33],"introduce":[34],"triplet":[36],"descriptor":[37,80,129],"based":[38],"on":[39,113],"multi-scale":[40],"edge":[41,45],"structures.":[42],"By":[43],"segmenting":[44],"lengths":[46],"multiple":[48],"thresholds,":[49],"the":[50,59,71,78],"method":[51,120],"constructs":[52],"triangular":[53],"structures":[54],"at":[55],"different":[56],"scales,":[57],"enabling":[58],"extraction":[60],"of":[61,73,127],"hierarchical":[62],"vertex":[63],"descriptors":[64],"that":[65,91,117],"better":[66],"discriminability":[68,130],"maximize":[70],"use":[72],"limited":[74],"information.":[75],"support":[77],"proposed":[79,119],"structure,":[81],"further":[83],"design":[84],"dynamic":[86],"maximal":[87],"clique":[88],"enhancement":[89],"strategy":[90],"enhances":[92],"inlier":[93],"selection":[94],"scenes":[99],"while":[100],"avoiding":[101],"redundant":[102],"information":[103],"semantically":[105],"rich":[106],"environments,":[107],"maintaining":[108],"computational":[109],"efficiency.":[110],"Experimental":[111],"results":[112],"public":[114],"datasets":[115],"demonstrate":[116],"our":[118],"outperforms":[121],"existing":[122],"state-of-the-art":[123],"approaches":[124],"terms":[126],"both":[128],"accuracy.":[134]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-24T00:00:00"}
