{"id":"https://openalex.org/W4319866432","doi":"https://doi.org/10.1109/tii.2023.3240578","title":"Explicit Points-of-Interest Driven Siamese Transformer for 3D LiDAR Place Recognition in Outdoor Challenging Environments","display_name":"Explicit Points-of-Interest Driven Siamese Transformer for 3D LiDAR Place Recognition in Outdoor Challenging Environments","publication_year":2023,"publication_date":"2023-01-31","ids":{"openalex":"https://openalex.org/W4319866432","doi":"https://doi.org/10.1109/tii.2023.3240578"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2023.3240578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2023.3240578","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","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/A5057379701","display_name":"Dong Kong","orcid":"https://orcid.org/0000-0002-1864-423X"},"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/0000-0002-1864-423X","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/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"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090081034","display_name":"Jinchao Hu","orcid":"https://orcid.org/0000-0003-0174-9737"},"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":"Jinchao Hu","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-0174-9737","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":"last","author":{"id":"https://openalex.org/A5064457872","display_name":"Xiang Song","orcid":"https://orcid.org/0000-0002-1704-4339"},"institutions":[{"id":"https://openalex.org/I4210128418","display_name":"Nanjing Xiaozhuang University","ror":"https://ror.org/03fnv7n42","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210128418"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Song","raw_affiliation_strings":["NanJing XiaoZhuang University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NanJing XiaoZhuang University, Nanjing, China","institution_ids":["https://openalex.org/I4210128418"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.6512,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.9781157,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"19","issue":"10","first_page":"10564","last_page":"10577"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9984999895095825,"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/discriminative-model","display_name":"Discriminative model","score":0.7377615571022034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7098153233528137},{"id":"https://openalex.org/keywords/pooling","display_name":"Pooling","score":0.6751524806022644},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6376510858535767},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5993065237998962},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5930314660072327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5826433897018433},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5144327282905579},{"id":"https://openalex.org/keywords/point-of-interest","display_name":"Point of interest","score":0.5023355484008789},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.45647838711738586},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.44053414463996887},{"id":"https://openalex.org/keywords/region-of-interest","display_name":"Region of interest","score":0.4342944622039795},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.42015528678894043},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41085484623908997},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.32798123359680176},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15395104885101318},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14500561356544495},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.11243936419487}],"concepts":[{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.7377615571022034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7098153233528137},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.6751524806022644},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6376510858535767},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5993065237998962},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5930314660072327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5826433897018433},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5144327282905579},{"id":"https://openalex.org/C150140777","wikidata":"https://www.wikidata.org/wiki/Q960648","display_name":"Point of interest","level":2,"score":0.5023355484008789},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.45647838711738586},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.44053414463996887},{"id":"https://openalex.org/C19609008","wikidata":"https://www.wikidata.org/wiki/Q2138203","display_name":"Region of interest","level":2,"score":0.4342944622039795},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.42015528678894043},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41085484623908997},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.32798123359680176},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15395104885101318},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14500561356544495},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.11243936419487},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2023.3240578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2023.3240578","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.7200000286102295}],"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":51,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2051610568","https://openalex.org/W2077057258","https://openalex.org/W2143146388","https://openalex.org/W2527172881","https://openalex.org/W2560609797","https://openalex.org/W2565998037","https://openalex.org/W2620629206","https://openalex.org/W2737444374","https://openalex.org/W2741560390","https://openalex.org/W2798278946","https://openalex.org/W2892028890","https://openalex.org/W2904274854","https://openalex.org/W2909908358","https://openalex.org/W2910489334","https://openalex.org/W2963708168","https://openalex.org/W2968557240","https://openalex.org/W2969277962","https://openalex.org/W2979750740","https://openalex.org/W2980535048","https://openalex.org/W2986519585","https://openalex.org/W2994881679","https://openalex.org/W3003437478","https://openalex.org/W3011465262","https://openalex.org/W3012494314","https://openalex.org/W3035275207","https://openalex.org/W3082486589","https://openalex.org/W3099455272","https://openalex.org/W3100687815","https://openalex.org/W3120082156","https://openalex.org/W3130609318","https://openalex.org/W3131191845","https://openalex.org/W3131660994","https://openalex.org/W3132982513","https://openalex.org/W3144438445","https://openalex.org/W3158765037","https://openalex.org/W3167448933","https://openalex.org/W3168256178","https://openalex.org/W3176159010","https://openalex.org/W3177271542","https://openalex.org/W3192680689","https://openalex.org/W3206352917","https://openalex.org/W3207344666","https://openalex.org/W3207901367","https://openalex.org/W4210693662","https://openalex.org/W4225847449","https://openalex.org/W4309486142","https://openalex.org/W4312584283","https://openalex.org/W6763422710","https://openalex.org/W6780226713","https://openalex.org/W6792604503"],"related_works":["https://openalex.org/W4384112194","https://openalex.org/W2783354812","https://openalex.org/W3048565508","https://openalex.org/W2890062830","https://openalex.org/W1989318744","https://openalex.org/W2785057145","https://openalex.org/W2886549544","https://openalex.org/W2943438544","https://openalex.org/W2798006533","https://openalex.org/W2944509217"],"abstract_inverted_index":{"Place":[0],"recognition":[1],"plays":[2],"a":[3,42,52],"crucial":[4],"role":[5],"in":[6,14,18,67],"simultaneous":[7],"localization":[8],"and":[9,16,51,124,149],"mapping.":[10],"Unfortunately,":[11],"however,":[12],"changes":[13],"viewpoints":[15],"conditions":[17],"large-scale":[19],"environments":[20],"impose":[21],"tricky":[22],"challenges":[23],"for":[24,65],"PR.":[25],"To":[26],"this":[27,29],"end,":[28],"article":[30],"specifically":[31],"proposes":[32],"an":[33,89],"explicit":[34],"points-of-interest":[35],"driven":[36],"PR":[37,53],"method,":[38],"which":[39],"consists":[40],"of":[41,58,80,83,101,118],"road":[43],"segmentation":[44],"module":[45,54],"based":[46,55],"on":[47,56,128],"grid-wise":[48],"patch":[49],"U-transformer":[50],"regions":[57,82],"interest":[59],"siamese":[60],"transformer":[61],"NetVLAD":[62,107],"(RI_STV).":[63],"Especially":[64],"RI_STV,":[66],"the":[68,76,86,96,104,144],"individual":[69],"dimension,":[70,88,106],"it":[71],"is":[72,92,112,136],"dedicated":[73],"to":[74,94,114,121],"exploring":[75],"local":[77],"topological":[78],"features":[79,100],"nonroad":[81],"interest.":[84,102],"In":[85,103],"spatial":[87],"improved":[90],"Transformer":[91],"introduced":[93],"capture":[95],"global":[97],"interactions":[98],"between":[99,147],"cluster":[105],"embedded":[108],"with":[109],"weighted":[110,116],"pooling":[111],"created":[113],"perform":[115],"aggregation":[117],"feature":[119],"clusters":[120],"generate":[122],"discriminative":[123],"general":[125],"descriptors.":[126],"Evaluation":[127],"various":[129],"datasets":[130],"shows":[131],"that":[132],"our":[133],"customized":[134],"method":[135],"not":[137],"only":[138],"impressively":[139],"competitive,":[140],"but":[141],"also":[142],"strikes":[143],"best":[145],"balance":[146],"accuracy":[148],"real-time":[150],"performance.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
