{"id":"https://openalex.org/W4312584283","doi":"https://doi.org/10.1109/tie.2022.3229385","title":"SeqOT: A Spatial\u2013Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data","display_name":"SeqOT: A Spatial\u2013Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data","publication_year":2022,"publication_date":"2022-12-20","ids":{"openalex":"https://openalex.org/W4312584283","doi":"https://doi.org/10.1109/tie.2022.3229385"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3229385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3229385","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":"https://openalex.org/A5059313602","display_name":"Junyi Ma","orcid":"https://orcid.org/0000-0002-2453-0001"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junyi Ma","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032262344","display_name":"Xieyuanli Chen","orcid":"https://orcid.org/0000-0003-0955-6681"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xieyuanli Chen","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100610904","display_name":"Jingyi Xu","orcid":"https://orcid.org/0000-0001-6082-4181"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyi Xu","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024222994","display_name":"Guangming Xiong","orcid":"https://orcid.org/0000-0002-0914-1112"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xiong","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5059313602"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":36.9466,"has_fulltext":false,"cited_by_count":59,"citation_normalized_percentile":{"value":0.99699055,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"70","issue":"8","first_page":"8225","last_page":"8234"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9939000010490417,"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/lidar","display_name":"Lidar","score":0.9092319011688232},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7230128049850464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.600385844707489},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5712158679962158},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5234876871109009},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.47868257761001587},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.46326568722724915},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.42195767164230347},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4136899411678314},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.32179251313209534},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1577104926109314},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1258377730846405}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9092319011688232},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7230128049850464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.600385844707489},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5712158679962158},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5234876871109009},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.47868257761001587},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.46326568722724915},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.42195767164230347},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4136899411678314},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.32179251313209534},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1577104926109314},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1258377730846405},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2022.3229385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3229385","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W2110405746","https://openalex.org/W2150066425","https://openalex.org/W2284029970","https://openalex.org/W2335829695","https://openalex.org/W2737165983","https://openalex.org/W2892028890","https://openalex.org/W2910489334","https://openalex.org/W2912583782","https://openalex.org/W2917053733","https://openalex.org/W2951019013","https://openalex.org/W2963588253","https://openalex.org/W2963708168","https://openalex.org/W2968225067","https://openalex.org/W2986519585","https://openalex.org/W3003250797","https://openalex.org/W3011465262","https://openalex.org/W3039808820","https://openalex.org/W3091337047","https://openalex.org/W3100687815","https://openalex.org/W3120082156","https://openalex.org/W3126857668","https://openalex.org/W3129252116","https://openalex.org/W3130609318","https://openalex.org/W3131660994","https://openalex.org/W3132252078","https://openalex.org/W3132982513","https://openalex.org/W3137393880","https://openalex.org/W3167448933","https://openalex.org/W3173736705","https://openalex.org/W3179694074","https://openalex.org/W3192680689","https://openalex.org/W3196890180","https://openalex.org/W3201256746","https://openalex.org/W3202756173","https://openalex.org/W3205945099","https://openalex.org/W3206790221","https://openalex.org/W3207344666","https://openalex.org/W3211157051","https://openalex.org/W4211040010","https://openalex.org/W4226052415","https://openalex.org/W4285147600","https://openalex.org/W4285225540","https://openalex.org/W6739901393","https://openalex.org/W6759654090","https://openalex.org/W6803177604","https://openalex.org/W6803506702"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4308259661","https://openalex.org/W4390813131","https://openalex.org/W2349383066","https://openalex.org/W4328132048","https://openalex.org/W2594043982","https://openalex.org/W3036493597"],"abstract_inverted_index":{"Place":[0],"recognition":[1,25,134],"is":[2],"an":[3,34,79],"important":[4],"component":[5],"for":[6,71],"autonomous":[7],"vehicles":[8],"to":[9,45,66],"achieve":[10],"loop":[11],"closing":[12],"or":[13],"global":[14,69],"localization.":[15],"In":[16],"this":[17],"article,":[18],"we":[19],"tackle":[20],"the":[21,47,59,95,103,130,149,153],"problem":[22],"of":[23,74,116,152],"place":[24,133],"based":[26],"on":[27,109],"sequential":[28,54],"3-D":[29],"LiDAR":[30,36,60,75,117],"scans":[31],"obtained":[32],"by":[33,53,90],"onboard":[35],"sensor.":[37,154],"We":[38,105],"propose":[39],"a":[40,68],"transformer-based":[41],"network":[42],"named":[43],"SeqOT":[44,86],"exploit":[46],"temporal":[48],"and":[49,99,136],"spatial":[50],"information":[51],"provided":[52],"range":[55,76],"images":[56,77],"generated":[57],"from":[58],"data.":[61],"It":[62],"uses":[63],"multiscale":[64],"transformers":[65],"generate":[67],"descriptor":[70],"each":[72],"sequence":[73,98],"in":[78,102,119],"end-to-end":[80],"fashion.":[81],"During":[82],"online":[83,146],"operation,":[84],"our":[85,107,127,143],"finds":[87],"similar":[88],"places":[89],"matching":[91],"such":[92],"descriptors":[93],"between":[94],"current":[96],"query":[97],"those":[100],"stored":[101],"map.":[104],"evaluate":[106],"approach":[108],"four":[110],"datasets":[111],"collected":[112],"with":[113],"different":[114,120,140],"types":[115],"sensors":[118],"environments.":[121,141],"The":[122],"experimental":[123],"results":[124],"show":[125],"that":[126],"method":[128,144],"outperforms":[129],"state-of-the-art":[131],"LiDAR-based":[132],"methods":[135],"generalizes":[137],"well":[138],"across":[139],"Furthermore,":[142],"operates":[145],"faster":[147],"than":[148],"frame":[150],"rate":[151]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
