{"id":"https://openalex.org/W4387490181","doi":"https://doi.org/10.1109/tcsvt.2023.3323498","title":"Global Localization in Large-Scale Point Clouds via Roll-Pitch-Yaw Invariant Place Recognition and Low-Overlap Global Registration","display_name":"Global Localization in Large-Scale Point Clouds via Roll-Pitch-Yaw Invariant Place Recognition and Low-Overlap Global Registration","publication_year":2023,"publication_date":"2023-10-10","ids":{"openalex":"https://openalex.org/W4387490181","doi":"https://doi.org/10.1109/tcsvt.2023.3323498"},"language":"en","primary_location":{"id":"doi:10.1109/tcsvt.2023.3323498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2023.3323498","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Circuits and Systems for Video Technology","raw_type":"journal-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/A5100435276","display_name":"Zhong Wang","orcid":"https://orcid.org/0000-0002-6206-526X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhong Wang","raw_affiliation_strings":["School of Software Engineering, Tongji University, Shanghai, China","Engineering Research Center of Key Software Technologies for Smart City Perception and Planning, Ministry of Education, China"],"affiliations":[{"raw_affiliation_string":"School of Software Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Engineering Research Center of Key Software Technologies for Smart City Perception and Planning, Ministry of Education, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351849","display_name":"Lin Zhang","orcid":"https://orcid.org/0000-0002-4360-5523"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Zhang","raw_affiliation_strings":["School of Software Engineering, Tongji University, Shanghai, China","Engineering Research Center of Key Software Technologies for Smart City Perception and Planning, Ministry of Education, China"],"affiliations":[{"raw_affiliation_string":"School of Software Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Engineering Research Center of Key Software Technologies for Smart City Perception and Planning, Ministry of Education, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035948567","display_name":"Shengjie Zhao","orcid":"https://orcid.org/0000-0002-6109-2522"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengjie Zhao","raw_affiliation_strings":["School of Software Engineering, Tongji University, Shanghai, China","Engineering Research Center of Key Software Technologies for Smart City Perception and Planning, Ministry of Education, China"],"affiliations":[{"raw_affiliation_string":"School of Software Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Engineering Research Center of Key Software Technologies for Smart City Perception and Planning, Ministry of Education, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009595085","display_name":"Yicong Zhou","orcid":"https://orcid.org/0000-0002-4487-6384"},"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":"Yicong Zhou","raw_affiliation_strings":["Department of Computer and Information Science, University of Macau, Macau, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100435276"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":7.5393,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.96567197,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"34","issue":"5","first_page":"3846","last_page":"3859"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6220999956130981},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5918826460838318},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.553477942943573},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5414524078369141},{"id":"https://openalex.org/keywords/scale-invariance","display_name":"Scale invariance","score":0.5291398167610168},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5245442986488342},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.47961223125457764},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3882279396057129},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3001256585121155},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.142657071352005},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11948949098587036},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11162421107292175}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6220999956130981},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5918826460838318},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.553477942943573},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414524078369141},{"id":"https://openalex.org/C135593079","wikidata":"https://www.wikidata.org/wiki/Q1750766","display_name":"Scale invariance","level":2,"score":0.5291398167610168},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5245442986488342},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.47961223125457764},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3882279396057129},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3001256585121155},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.142657071352005},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11948949098587036},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11162421107292175},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcsvt.2023.3323498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2023.3323498","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Circuits and Systems for Video Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G583652794","display_name":null,"funder_award_id":"62272343","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6544237512","display_name":null,"funder_award_id":"61973235","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1677409904","https://openalex.org/W1686810756","https://openalex.org/W1990385077","https://openalex.org/W2033574012","https://openalex.org/W2045162826","https://openalex.org/W2049981393","https://openalex.org/W2063463366","https://openalex.org/W2085261163","https://openalex.org/W2088171019","https://openalex.org/W2097832352","https://openalex.org/W2098764590","https://openalex.org/W2115001439","https://openalex.org/W2115579991","https://openalex.org/W2130763585","https://openalex.org/W2139114878","https://openalex.org/W2144491133","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2160821342","https://openalex.org/W2284029970","https://openalex.org/W2296228853","https://openalex.org/W2335829695","https://openalex.org/W2336416123","https://openalex.org/W2411093439","https://openalex.org/W2560609797","https://openalex.org/W2565998037","https://openalex.org/W2620629206","https://openalex.org/W2876324142","https://openalex.org/W2910489334","https://openalex.org/W2963264709","https://openalex.org/W2963708168","https://openalex.org/W2986382673","https://openalex.org/W2986519585","https://openalex.org/W3016600231","https://openalex.org/W3035474772","https://openalex.org/W3035574168","https://openalex.org/W3097606838","https://openalex.org/W3100435238","https://openalex.org/W3130266661","https://openalex.org/W3130609318","https://openalex.org/W3177280664","https://openalex.org/W3179694074","https://openalex.org/W3192680689","https://openalex.org/W3196890180","https://openalex.org/W4205842536","https://openalex.org/W4206264583","https://openalex.org/W4225108957","https://openalex.org/W4226373316","https://openalex.org/W4285147600","https://openalex.org/W4290715566","https://openalex.org/W4296913583","https://openalex.org/W4309591753","https://openalex.org/W4312505280","https://openalex.org/W4312584283","https://openalex.org/W4312685343","https://openalex.org/W4385245566","https://openalex.org/W4386065759","https://openalex.org/W6637373629","https://openalex.org/W6767019538"],"related_works":["https://openalex.org/W4389574804","https://openalex.org/W3016928466","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W1578717197","https://openalex.org/W2097033632","https://openalex.org/W2021670453","https://openalex.org/W2021783512","https://openalex.org/W2334047832"],"abstract_inverted_index":{"For":[0,33,98],"autonomous":[1],"ground":[2,154],"vehicles,":[3],"global":[4,19,31,100],"localization":[5,20],"with":[6,49,68],"3D":[7,47,124,200],"LiDAR":[8,22],"is":[9,23],"an":[10],"indispensable":[11],"part":[12],"of":[13,156,184,198,209,217],"tasks":[14],"such":[15],"as":[16,75,189,191],"navigation.":[17],"Usually,":[18],"using":[21],"subdivided":[24],"into":[25],"two":[26],"sub-problems,":[27],"place":[28,34,88,186],"recognition":[29,89,187,206],"and":[30,78,126,146,151,160,166,181,196,207,230],"registration.":[32],"recognition,":[35],"the":[36,102,116,142,153,157,163,178,192,205,227],"recent":[37],"emerging":[38],"schemes":[39],"based":[40],"on":[41,46,122],"deep":[42],"learning":[43,91],"either":[44],"rely":[45,121],"convolution":[48,125],"high":[50],"complexity":[51],"or":[52],"need":[53],"to":[54,110,135,140,161],"learn":[55],"features":[56],"from":[57,82,94],"various":[58],"forward":[59],"perspectives.":[60],"To":[61,131,223],"mitigate":[62],"this,":[63],"we":[64,138],"propose":[65,139],"a":[66,83,95],"model":[67],"roll-pitch-yaw":[69],"invariance":[70],"that":[71],"represents":[72],"point":[73,113,158],"clouds":[74,159],"probabilistic":[76],"voxels":[77],"generates":[79],"occupancy":[80,173],"grids":[81],"bird\u2019s-eye":[84],"view,":[85],"fulfilling":[86],"robust":[87],"by":[90,149,169,220],"aggregated":[92],"embeddings":[93],"fixed":[96],"perspective.":[97],"low-overlap":[99],"registration,":[101],"traditional":[103],"handcraft":[104],"feature-based":[105],"methods":[106],"are":[107,232],"mostly":[108],"limited":[109],"dense":[111],"object-level":[112],"clouds,":[114],"while":[115],"state-of-the-art":[117],"learning-based":[118],"approaches":[119],"often":[120],"complex":[123],"additional":[127],"feature":[128],"association":[129],"learning.":[130],"fill":[132],"this":[133],"gap":[134],"some":[136],"extent,":[137],"estimate":[141],"relative":[143],"roll-pitch":[144],"angles":[145],"vertical":[147],"translation":[148],"fitting":[150],"aligning":[152],"plane":[155],"determine":[162],"horizontal":[164],"translations":[165],"yaw":[167],"angle":[168],"matching":[170],"their":[171],"projected":[172],"grids.":[174],"Extensive":[175],"experiments":[176],"corroborate":[177],"superior":[179],"recall":[180],"generalization":[182],"ability":[183],"our":[185,199,212,218],"model,":[188],"well":[190],"advanced":[193],"success":[194],"rate":[195],"accuracy":[197],"registration":[201,208],"approach.":[202],"Especially":[203],"in":[204],"hard":[210],"samples,":[211],"results":[213],"far":[214],"exceed":[215],"those":[216],"counterparts":[219],"large":[221],"margins.":[222],"ensure":[224],"full":[225],"reproducibility,":[226],"relevant":[228],"codes":[229],"data":[231],"made":[233],"available":[234],"online.":[235]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}