{"id":"https://openalex.org/W2606189077","doi":"https://doi.org/10.1109/tits.2017.2685436","title":"Road Constrained Monocular Visual Localization Using Gaussian-Gaussian Cloud Model","display_name":"Road Constrained Monocular Visual Localization Using Gaussian-Gaussian Cloud Model","publication_year":2017,"publication_date":"2017-04-13","ids":{"openalex":"https://openalex.org/W2606189077","doi":"https://doi.org/10.1109/tits.2017.2685436","mag":"2606189077"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2017.2685436","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2017.2685436","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100736166","display_name":"Shuai Yang","orcid":"https://orcid.org/0000-0003-0799-5648"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Shuai Yang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073057754","display_name":"Rui Jiang","orcid":"https://orcid.org/0000-0003-0966-2943"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Rui Jiang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100452641","display_name":"Han Wang","orcid":"https://orcid.org/0000-0001-5448-9903"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Han Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008501506","display_name":"Shuzhi Sam Ge","orcid":"https://orcid.org/0000-0001-5549-312X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shuzhi Sam Ge","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100736166"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":4.8994,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.94363098,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"18","issue":"12","first_page":"3449","last_page":"3456"},"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":0.9994999766349792,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7163197994232178},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6199555993080139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.581404983997345},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5791637897491455},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.5330547094345093},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.511296272277832},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.479452520608902},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4792206883430481},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3217228055000305},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14689984917640686}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7163197994232178},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6199555993080139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.581404983997345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5791637897491455},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.5330547094345093},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.511296272277832},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.479452520608902},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4792206883430481},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3217228055000305},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14689984917640686},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2017.2685436","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2017.2685436","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W200697499","https://openalex.org/W1612997784","https://openalex.org/W1970329928","https://openalex.org/W1985434019","https://openalex.org/W2011852571","https://openalex.org/W2015996585","https://openalex.org/W2025496434","https://openalex.org/W2045715871","https://openalex.org/W2051321581","https://openalex.org/W2070716745","https://openalex.org/W2098171705","https://openalex.org/W2098206081","https://openalex.org/W2101805040","https://openalex.org/W2107798036","https://openalex.org/W2118428504","https://openalex.org/W2132484736","https://openalex.org/W2135822894","https://openalex.org/W2143802618","https://openalex.org/W2151477068","https://openalex.org/W2160823029","https://openalex.org/W2168676389","https://openalex.org/W2290161659","https://openalex.org/W2343812707","https://openalex.org/W2344403065","https://openalex.org/W3103648783","https://openalex.org/W4250445821","https://openalex.org/W4378619706","https://openalex.org/W6608138123"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"There":[0],"are":[1,92],"two":[2],"main":[3],"challenges,":[4],"drift":[5,88],"and":[6,41,69,89,94,130,183,192],"scale":[7,70,90,166],"ambiguity,":[8],"restricting":[9],"monocular":[10,73,169],"visual":[11,74,170],"odometry":[12,171],"from":[13,114],"an":[14,24],"extensive":[15],"application":[16],"on":[17,177],"real":[18],"autonomous":[19],"navigation.":[20],"In":[21,76],"this":[22,77],"paper,":[23],"iterative":[25],"localization":[26],"framework":[27],"is":[28,58,84,122,135,160],"presented":[29],"to":[30,60,125,138,147,162],"globally":[31],"localize":[32],"a":[33,38,42,53,62,79,126,131],"mobile":[34],"vehicle":[35],"equipped":[36],"with":[37,153],"single":[39],"camera":[40],"freely":[43],"available":[44],"digital":[45],"map.":[46],"Inspired":[47],"by":[48],"the":[49,66,87,103,115,140,150,165,178,190,195],"concept":[50],"of":[51,65,81,106,142,168,194],"cloud,":[52],"new":[54],"Gaussian-Gaussian":[55,110],"Cloud":[56],"model":[57],"proposed":[59,196],"give":[61],"unified":[63],"representation":[64],"measurement":[67,104],"randomness":[68],"ambiguity":[71,91,167],"in":[72,97,109],"odometry.":[75],"model,":[78],"collection":[80],"cloud":[82,99,144,174],"drops":[83],"generated.":[85],"Both":[86],"considered":[93],"represented":[95],"simultaneously":[96],"each":[98,143],"drop.":[100],"To":[101],"reduce":[102],"uncertainties":[105],"any":[107],"drop":[108,151],"Cloud,":[111],"road":[112,154],"constraints":[113],"open":[116],"source":[117],"map-OpenStreetMap-are":[118],"utilized.":[119],"The":[120],"map":[121,129],"first":[123],"converted":[124],"template":[127],"edge":[128],"shape":[132],"matching":[133],"step":[134],"then":[136],"implemented":[137],"assign":[139],"probability":[141],"drop,":[145],"indicating":[146],"what":[148],"degree":[149],"accords":[152],"constraints.":[155],"A":[156],"parameter":[157],"estimation":[158],"scheme":[159],"used":[161],"narrow":[163],"down":[164],"while":[172],"resampling":[173],"drops.":[175],"Evaluations":[176],"KITTI":[179],"benchmark":[180],"data":[181,186],"set":[182,187],"our":[184],"self-collected":[185],"have":[188],"demonstrated":[189],"stability":[191],"accuracy":[193],"approach.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}