{"id":"https://openalex.org/W4226052415","doi":"https://doi.org/10.1109/tie.2022.3169849","title":"Learning a Novel LiDAR Submap-Based Observation Model for Global Positioning in Long-Term Changing Environments","display_name":"Learning a Novel LiDAR Submap-Based Observation Model for Global Positioning in Long-Term Changing Environments","publication_year":2022,"publication_date":"2022-04-29","ids":{"openalex":"https://openalex.org/W4226052415","doi":"https://doi.org/10.1109/tie.2022.3169849"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3169849","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3169849","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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":null,"display_name":"Dong Kong","orcid":"https://orcid.org/0000-0003-3002-7389"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Kong","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-3002-7389","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100699659","display_name":"Xu Li","orcid":"https://orcid.org/0000-0003-2772-7114"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Li","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-2772-7114","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082219172","display_name":"Yue Hu","orcid":"https://orcid.org/0000-0002-0566-811X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Hu","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-0566-811X","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088520478","display_name":"Qimin Xu","orcid":"https://orcid.org/0000-0002-7159-8666"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qimin Xu","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-7159-8666","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100747267","display_name":"Aimin Wang","orcid":"https://orcid.org/0000-0002-8974-2291"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aimin Wang","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049446739","display_name":"Weiming Hu","orcid":"https://orcid.org/0000-0001-9483-5559"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiming Hu","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9483-5559","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":4.2157,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.93982389,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"70","issue":"3","first_page":"3147","last_page":"3157"},"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9979000091552734,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8233872056007385},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7108255624771118},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7000554203987122},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6844226121902466},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5723154544830322},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5717299580574036},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.5488711595535278},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5037001967430115},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4833485782146454},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4537428319454193},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.42816174030303955},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.41365665197372437},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3645603656768799},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1029939353466034},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09943220019340515}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8233872056007385},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7108255624771118},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7000554203987122},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6844226121902466},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5723154544830322},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5717299580574036},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.5488711595535278},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5037001967430115},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4833485782146454},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4537428319454193},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.42816174030303955},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.41365665197372437},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3645603656768799},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1029939353466034},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09943220019340515},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/tie.2022.3169849","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3169849","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7294854559","display_name":null,"funder_award_id":"61973079","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W179122090","https://openalex.org/W1503567288","https://openalex.org/W1988322066","https://openalex.org/W2097117768","https://openalex.org/W2144594079","https://openalex.org/W2144824356","https://openalex.org/W2200124539","https://openalex.org/W2344109021","https://openalex.org/W2527172881","https://openalex.org/W2565998037","https://openalex.org/W2609368314","https://openalex.org/W2620629206","https://openalex.org/W2737165983","https://openalex.org/W2798786289","https://openalex.org/W2889085542","https://openalex.org/W2900560726","https://openalex.org/W2908969420","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2914921243","https://openalex.org/W2953205834","https://openalex.org/W2962227480","https://openalex.org/W2963708168","https://openalex.org/W2967222368","https://openalex.org/W2994881679","https://openalex.org/W2996045557","https://openalex.org/W2997164612","https://openalex.org/W3011465262","https://openalex.org/W3032592799","https://openalex.org/W3039808820","https://openalex.org/W3044115625","https://openalex.org/W3099455272","https://openalex.org/W3100687815","https://openalex.org/W3133980338","https://openalex.org/W3167448933","https://openalex.org/W3192680689","https://openalex.org/W3209803594","https://openalex.org/W4200108743","https://openalex.org/W6607182985","https://openalex.org/W6755942961"],"related_works":["https://openalex.org/W2103761320","https://openalex.org/W2358167375","https://openalex.org/W2031992971","https://openalex.org/W116564642","https://openalex.org/W2132659060","https://openalex.org/W2078821596","https://openalex.org/W1983380679","https://openalex.org/W1981649169","https://openalex.org/W3214791684","https://openalex.org/W2357354286"],"abstract_inverted_index":{"In":[0,65],"complex":[1],"environments":[2],"with":[3,56],"long-term":[4,167],"changes":[5],"such":[6],"as":[7],"light,":[8],"seasonal,":[9],"and":[10,15,23,79,92,107,141,160,164],"viewpoint":[11],"changes,":[12],"robust,":[13],"accurate,":[14],"high-frequency":[16,132],"global":[17,133],"positioning":[18],"based":[19],"on":[20,48,138],"light":[21],"detection":[22],"ranging":[24],"(LiDAR)":[25],"map":[26],"is":[27,32,59,73,96,118],"still":[28],"a":[29,42,67],"challenge,":[30],"which":[31,102],"crucial":[33],"for":[34,98,126],"autonomous":[35],"vehicles":[36],"or":[37],"robots.":[38],"To":[39],"this":[40,63],"end,":[41],"novel":[43,84],"observation":[44,117],"model":[45],"that":[46,87,145],"relies":[47],"the":[49,99,110,114,121,146,152,162],"siamese":[50,85],"multitask":[51],"convolutional":[52],"neural":[53],"networks":[54],"(CNNs)":[55],"multimodule":[57],"cascaded":[58],"creatively":[60],"presented":[61],"in":[62],"article.":[64],"particular,":[66],"new":[68],"pseudoimage":[69],"representing":[70],"LiDAR":[71],"submap":[72],"designed":[74,97],"to":[75,129],"enrich":[76],"scene":[77],"texture":[78],"enhance":[80],"rotation":[81],"invariance.":[82],"Besides,":[83],"CNNs":[86],"are":[88],"coupled":[89],"by":[90],"NeXtVLAD":[91],"long":[93],"short-term":[94],"memory":[95],"first":[100],"time,":[101],"can":[103],"reliably":[104],"predict":[105],"similarity":[106],"quaternion":[108,116],"at":[109],"same":[111],"time.":[112],"Finally,":[113],"predicted":[115],"integrated":[119],"into":[120],"extended":[122],"Kalman":[123],"filter":[124],"framework":[125],"multisensor":[127],"fusion":[128],"achieve":[130],"robust":[131],"pose":[134],"estimation.":[135],"Extensive":[136],"evaluations":[137],"KITTI,":[139],"NCLT,":[140],"real-world":[142],"datasets":[143],"suggest":[144],"proposed":[147],"method":[148],"not":[149],"only":[150],"obtains":[151],"remarkable":[153],"precision-recall":[154],"performance,":[155],"but":[156],"also":[157],"effectively":[158],"enhances":[159],"improves":[161],"robustness":[163],"accuracy":[165],"of":[166],"positioning.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
