{"id":"https://openalex.org/W2284520540","doi":"https://doi.org/10.1109/tits.2015.2477817","title":"Feature Detection for Vehicle Localization in Urban Environments Using a Multilayer LIDAR","display_name":"Feature Detection for Vehicle Localization in Urban Environments Using a Multilayer LIDAR","publication_year":2015,"publication_date":"2015-09-28","ids":{"openalex":"https://openalex.org/W2284520540","doi":"https://doi.org/10.1109/tits.2015.2477817","mag":"2284520540"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2015.2477817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2015.2477817","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://dx.doi.org/10.1109/TITS.2015.2477817","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016562532","display_name":"Alberto Hata","orcid":"https://orcid.org/0000-0002-6968-7387"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Alberto Y. Hata","raw_affiliation_strings":["Mobile Robotics Laboratory, University of S\u00e3o Paulo, S\u00e3o Carlos-SP, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-6968-7387","affiliations":[{"raw_affiliation_string":"Mobile Robotics Laboratory, University of S\u00e3o Paulo, S\u00e3o Carlos-SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113788485","display_name":"Denis F. Wolf","orcid":null},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Denis F. Wolf","raw_affiliation_strings":["Mobile Robotics Laboratory, University of S\u00e3o Paulo, S\u00e3o Carlos-SP, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Robotics Laboratory, University of S\u00e3o Paulo, S\u00e3o Carlos-SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17974374"],"apc_list":null,"apc_paid":null,"fwci":252.8092,"has_fulltext":false,"cited_by_count":203,"citation_normalized_percentile":{"value":0.99960872,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"17","issue":"2","first_page":"420","last_page":"429"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9969000220298767,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/computer-vision","display_name":"Computer vision","score":0.7177972793579102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6912857294082642},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6702673435211182},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.6604083180427551},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6297745704650879},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5648248195648193},{"id":"https://openalex.org/keywords/unavailability","display_name":"Unavailability","score":0.5328996777534485},{"id":"https://openalex.org/keywords/thresholding","display_name":"Thresholding","score":0.5011398792266846},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4717741012573242},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4548235535621643},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.43616440892219543},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.41317468881607056},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3279992938041687},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.29717686772346497},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22865986824035645},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.22444352507591248},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18659695982933044},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10572192072868347},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.08835577964782715}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7177972793579102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6912857294082642},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6702673435211182},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6604083180427551},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6297745704650879},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5648248195648193},{"id":"https://openalex.org/C2780505938","wikidata":"https://www.wikidata.org/wiki/Q17093282","display_name":"Unavailability","level":2,"score":0.5328996777534485},{"id":"https://openalex.org/C191178318","wikidata":"https://www.wikidata.org/wiki/Q2256906","display_name":"Thresholding","level":3,"score":0.5011398792266846},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4717741012573242},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4548235535621643},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.43616440892219543},{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.41317468881607056},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3279992938041687},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.29717686772346497},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22865986824035645},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.22444352507591248},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18659695982933044},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10572192072868347},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.08835577964782715},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2015.2477817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2015.2477817","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:002753426","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/TITS.2015.2477817","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"reponame:Reposit\u00f3rio Institucional da USP (Biblioteca Digital da Produ\u00e7\u00e3o Intelectual)","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:002753426","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/TITS.2015.2477817","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"reponame:Reposit\u00f3rio Institucional da USP (Biblioteca Digital da Produ\u00e7\u00e3o Intelectual)","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1932648486","display_name":null,"funder_award_id":"2012/02354-1","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"},{"id":"https://openalex.org/G5420217902","display_name":null,"funder_award_id":"2014/09096-3","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1986948589","https://openalex.org/W2021063678","https://openalex.org/W2039787185","https://openalex.org/W2055207897","https://openalex.org/W2060061906","https://openalex.org/W2089112725","https://openalex.org/W2101796109","https://openalex.org/W2107059967","https://openalex.org/W2113556050","https://openalex.org/W2133059825","https://openalex.org/W2136756158","https://openalex.org/W2137304784","https://openalex.org/W2150945251","https://openalex.org/W2158151759","https://openalex.org/W4293682399"],"related_works":["https://openalex.org/W4237235066","https://openalex.org/W2026539069","https://openalex.org/W207884067","https://openalex.org/W3127016596","https://openalex.org/W2365973415","https://openalex.org/W1482423459","https://openalex.org/W2996457675","https://openalex.org/W3146085540","https://openalex.org/W2129918226","https://openalex.org/W843992174"],"abstract_inverted_index":{"Localization":[0],"is":[1],"an":[2],"important":[3],"component":[4],"of":[5,13,83,128],"autonomous":[6],"vehicles,":[7],"as":[8,16],"it":[9],"enables":[10],"the":[11,51,81,89,94,129,141,155,168],"accomplishment":[12],"tasks,":[14],"such":[15],"path":[17],"planning":[18],"and":[19,35,115],"navigation.":[20],"Although":[21],"vehicle":[22,156],"position":[23],"can":[24,92],"be":[25],"obtained":[26],"by":[27,69],"GNSS":[28],"devices,":[29],"they":[30],"are":[31,67],"susceptible":[32],"to":[33,99,133,153,166],"errors":[34],"satellite":[36],"signal":[37],"unavailability":[38],"in":[39,50,88,103,160],"urban":[40,161],"scenarios.":[41],"Several":[42],"map-aided":[43],"localization":[44,61,95,151],"solution":[45],"methods":[46,77,144],"have":[47,163],"been":[48,164],"proposed":[49,169],"literature,":[52],"but":[53],"mostly":[54],"for":[55,60],"indoor":[56],"environments.":[57],"Maps":[58],"used":[59,165],"store":[62],"relevant":[63],"environmental":[64],"features":[65],"that":[66],"extracted":[68],"a":[70,108,125,148],"detection":[71,76,143],"method.":[72],"However,":[73],"many":[74],"feature":[75,142],"do":[78],"not":[79],"consider":[80],"presence":[82],"dynamic":[84],"obstacles":[85],"or":[86],"occlusions":[87],"environment,":[90],"which":[91],"impair":[93],"performance.":[96],"In":[97],"order":[98],"detect":[100],"curbs":[101],"even":[102],"occluding":[104],"scenes,":[105],"we":[106,123],"developed":[107,124],"method":[109,132,152],"based":[110],"on":[111],"ring":[112],"compression":[113],"analysis":[114],"least":[116],"trimmed":[117],"squares.":[118],"For":[119],"road":[120,135,138],"marking":[121],"detection,":[122],"modified":[126],"version":[127],"Otsu":[130],"thresholding":[131],"segment":[134],"painting":[136],"from":[137],"surfaces.":[139],"Finally,":[140],"were":[145],"integrated":[146],"with":[147,171],"Monte":[149],"Carlo":[150],"estimate":[154],"position.":[157],"Experimental":[158],"tests":[159],"streets":[162],"validate":[167],"approach":[170],"favorable":[172],"results.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":23},{"year":2020,"cited_by_count":39},{"year":2019,"cited_by_count":42},{"year":2018,"cited_by_count":23},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":5}],"updated_date":"2026-08-16T07:02:28.622633","created_date":"2025-10-10T00:00:00"}