{"id":"https://openalex.org/W4392824840","doi":"https://doi.org/10.1109/tim.2024.3375408","title":"OSK: A Novel LiDAR Occupancy Set Key-Based Place Recognition Method in Urban Environment","display_name":"OSK: A Novel LiDAR Occupancy Set Key-Based Place Recognition Method in Urban Environment","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392824840","doi":"https://doi.org/10.1109/tim.2024.3375408"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3375408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3375408","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5100459116","display_name":"Zheng Zhang","orcid":"https://orcid.org/0000-0002-3636-3212"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Zhang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-3636-3212","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091074416","display_name":"Yulong Huang","orcid":"https://orcid.org/0000-0001-9303-9083"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulong Huang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-9303-9083","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005175367","display_name":"Shubin Si","orcid":"https://orcid.org/0000-0003-4921-9583"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shubin Si","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-4921-9583","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101931172","display_name":"Cheng Zhao","orcid":"https://orcid.org/0009-0007-3881-8122"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Zhao","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0007-3881-8122","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100368975","display_name":"Ning Li","orcid":"https://orcid.org/0000-0001-8146-4015"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Li","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-8146-4015","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383751","display_name":"Yonggang Zhang","orcid":"https://orcid.org/0000-0003-4548-1111"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonggang Zhang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-4548-1111","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.124,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.9726537,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"73","issue":null,"first_page":"1","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"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":0.998199999332428,"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":0.996999979019165,"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/T13282","display_name":"Automated Road and Building Extraction","score":0.994700014591217,"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/lidar","display_name":"Lidar","score":0.8049519658088684},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.6293891668319702},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5967549085617065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5784202814102173},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5079756379127502},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4494674503803253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43510299921035767},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.422650545835495},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.40535128116607666},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.338662326335907},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22334283590316772},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18535029888153076},{"id":"https://openalex.org/keywords/architectural-engineering","display_name":"Architectural engineering","score":0.16627007722854614},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.13637974858283997}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8049519658088684},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.6293891668319702},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5967549085617065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5784202814102173},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5079756379127502},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4494674503803253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43510299921035767},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.422650545835495},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.40535128116607666},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.338662326335907},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22334283590316772},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18535029888153076},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.16627007722854614},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.13637974858283997},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2024.3375408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3375408","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7699999809265137}],"awards":[{"id":"https://openalex.org/G3520130506","display_name":null,"funder_award_id":"62373118","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4601096759","display_name":null,"funder_award_id":"62173105","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":47,"referenced_works":["https://openalex.org/W1736726159","https://openalex.org/W1988322066","https://openalex.org/W1988874269","https://openalex.org/W1989484209","https://openalex.org/W2028000700","https://openalex.org/W2029449100","https://openalex.org/W2049981393","https://openalex.org/W2085261163","https://openalex.org/W2086320398","https://openalex.org/W2099606917","https://openalex.org/W2105977269","https://openalex.org/W2115579991","https://openalex.org/W2527172881","https://openalex.org/W2565998037","https://openalex.org/W2910489334","https://openalex.org/W2957348723","https://openalex.org/W2963708168","https://openalex.org/W3011465262","https://openalex.org/W3099455272","https://openalex.org/W3100687815","https://openalex.org/W3129920626","https://openalex.org/W3130609318","https://openalex.org/W3132982513","https://openalex.org/W3152786524","https://openalex.org/W3168086592","https://openalex.org/W3179694074","https://openalex.org/W3192680689","https://openalex.org/W3196890180","https://openalex.org/W3198517319","https://openalex.org/W3201256746","https://openalex.org/W3203597819","https://openalex.org/W3206411252","https://openalex.org/W3211389689","https://openalex.org/W4225886149","https://openalex.org/W4285147600","https://openalex.org/W4285742775","https://openalex.org/W4297310234","https://openalex.org/W4312275786","https://openalex.org/W4312317456","https://openalex.org/W4383097620","https://openalex.org/W4384916349","https://openalex.org/W4385975620","https://openalex.org/W4386090488","https://openalex.org/W4386132020","https://openalex.org/W4387415326","https://openalex.org/W4387717541","https://openalex.org/W6629956336"],"related_works":["https://openalex.org/W4282043467","https://openalex.org/W4319317934","https://openalex.org/W2105697914","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W3093197249","https://openalex.org/W1968324288","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650"],"abstract_inverted_index":{"Light":[0],"Detection":[1],"and":[2,15,32,87,97,149,177,186,189,202],"Ranging":[3],"(LiDAR)":[4],"based":[5,69],"place":[6,74],"recognition":[7,75],"plays":[8],"a":[9,50,66,72,144],"crucial":[10],"role":[11],"in":[12,26,103,167,200,211],"autonomous":[13],"driving":[14],"robotics":[16],"systems.":[17],"The":[18,170,221],"feature":[19,41],"information":[20],"within":[21],"LiDAR":[22],"point":[23],"clouds":[24],"collected":[25],"urban":[27,62],"environments":[28,63],"is":[29,58,77,83,128],"often":[30],"sparse":[31],"scattered,":[33],"which":[34,71],"brings":[35],"challenges":[36],"to":[37,113,155],"capture":[38],"the":[39,91,98,108,114,119,122,125,136,150,156,174,190,195,216],"essential":[40],"by":[42,64,163],"structured":[43],"descriptors":[44],"like":[45],"matrices.":[46],"In":[47],"this":[48,224],"paper,":[49],"novel":[51],"descriptor":[52],"called":[53],"<italic":[54,137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[55,138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Occupancy":[56,139],"Set</i>":[57],"designed":[59],"for":[60,165,230],"encoding":[61],"introducing":[65],"set-based":[67],"descriptor,":[68],"on":[70,183],"new":[73],"method":[76,176,197],"proposed.":[78],"Specifically,":[79],"an":[80],"occupancy":[81,104,126],"set":[82,127],"populated":[84],"with":[85,218],"ring":[86],"sector":[88],"indices":[89],"representing":[90],"occupied":[92],"regions":[93],"around":[94],"selected":[95],"landmarks,":[96],"proportion":[99],"of":[100,110,121,223],"identical":[101],"elements":[102],"sets":[105],"can":[106,159,198],"reflect":[107],"probability":[109],"them":[111],"belonging":[112],"same":[115,123],"landmark.":[116],"To":[117],"expedite":[118],"retrieval":[120],"landmark,":[124],"further":[129],"compressed":[130],"into":[131],"hash":[132],"values,":[133],"named":[134],"as":[135,215],"Set":[140],"Key</i>":[141],"(OSK),":[142],"using":[143],"Locality-Sensitive":[145],"Hashing":[146],"(LSH)":[147],"algorithm,":[148],"historically":[151],"associated":[152],"landmarks":[153],"corresponding":[154],"query":[157],"scan":[158],"be":[160,227],"quickly":[161],"located":[162],"searching":[164],"OSKs":[166],"inverse":[168],"dictionaries.":[169],"experimental":[171,191],"comparisons":[172],"between":[173],"proposed":[175,196],"existing":[178,208],"state-of-the-art":[179],"algorithms":[180],"are":[181],"conducted":[182],"public":[184],"KITTI":[185],"KITTI360":[187],"datasets,":[188],"results":[192],"exhibit":[193],"that":[194],"operate":[199],"real-time":[201],"has":[203],"better":[204],"recall":[205],"rates":[206],"than":[207],"methods,":[209],"particularly":[210],"challenging":[212],"scenarios,":[213],"such":[214],"intersections":[217],"varying":[219],"paths.":[220],"codes":[222],"paper":[225],"will":[226],"open":[228],"source":[229],"readers":[231],"at":[232],"https://github.com/ZhangZh3ng/Occupancy-Set-Key.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}