{"id":"https://openalex.org/W2978549732","doi":"https://doi.org/10.1109/tits.2019.2942760","title":"Persistent Stereo Visual Localization on Cross-Modal Invariant Map","display_name":"Persistent Stereo Visual Localization on Cross-Modal Invariant Map","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2978549732","doi":"https://doi.org/10.1109/tits.2019.2942760","mag":"2978549732"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2019.2942760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2019.2942760","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/A5088639775","display_name":"Xiaqing Ding","orcid":"https://orcid.org/0000-0001-7802-0130"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xiaqing Ding","raw_affiliation_strings":["[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]"],"affiliations":[{"raw_affiliation_string":"[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]"],"affiliations":[{"raw_affiliation_string":"[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]"],"affiliations":[{"raw_affiliation_string":"[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054790380","display_name":"Dongxuan Li","orcid":"https://orcid.org/0000-0001-5504-8296"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dongxuan Li","raw_affiliation_strings":["[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]"],"affiliations":[{"raw_affiliation_string":"[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100725459","display_name":"Li Tang","orcid":"https://orcid.org/0000-0003-2590-6872"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li Tang","raw_affiliation_strings":["[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]"],"affiliations":[{"raw_affiliation_string":"[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024862094","display_name":"Huan Yin","orcid":"https://orcid.org/0000-0002-0872-8202"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huan Yin","raw_affiliation_strings":["[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]"],"affiliations":[{"raw_affiliation_string":"[State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China]","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069782955","display_name":"Liang Zhao","orcid":"https://orcid.org/0000-0003-4063-8183"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Liang Zhao","raw_affiliation_strings":["[Center for Autonomous Systems (CAS), University of Technology Sydney, Sydney, NSW, Australia]"],"affiliations":[{"raw_affiliation_string":"[Center for Autonomous Systems (CAS), University of Technology Sydney, Sydney, NSW, Australia]","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5088639775"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":31.2416,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.99271585,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"21","issue":"11","first_page":"4646","last_page":"4658"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9983999729156494,"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/modal","display_name":"Modal","score":0.6461109519004822},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6254081726074219},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5888826847076416},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5802156925201416},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5038558840751648},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4881518483161926},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3259650468826294},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28562331199645996}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6461109519004822},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6254081726074219},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5888826847076416},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5802156925201416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5038558840751648},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4881518483161926},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3259650468826294},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28562331199645996},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tits.2019.2942760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2019.2942760","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:oai:opus.lib.uts.edu.au:10453/147547","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/147547","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-117443","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-117443","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:repository.ust.hk:1783.1-117443","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=1524-9050&rft.volume=21&rft.issue=11&rft.date=2020&rft.spage=4646&rft.aulast=Ding&rft.aufirst=X.&rft.atitle=Persistent+Stereo+Visual+Localization+on+Cross-Modal+Invariant+Map&rft.title=IEEE+Transactions+on+Intelligent+Transportation+Systems","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2586965523","display_name":null,"funder_award_id":"61903332","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":65,"referenced_works":["https://openalex.org/W8177059","https://openalex.org/W26944259","https://openalex.org/W1518680072","https://openalex.org/W1554544485","https://openalex.org/W1588649053","https://openalex.org/W1612997784","https://openalex.org/W1677409904","https://openalex.org/W1824640608","https://openalex.org/W1875235752","https://openalex.org/W1896090928","https://openalex.org/W1964461175","https://openalex.org/W1970329928","https://openalex.org/W1973080743","https://openalex.org/W1988874269","https://openalex.org/W2003919215","https://openalex.org/W2019085623","https://openalex.org/W2021063678","https://openalex.org/W2022814720","https://openalex.org/W2027686373","https://openalex.org/W2028828679","https://openalex.org/W2038390631","https://openalex.org/W2041620409","https://openalex.org/W2054969198","https://openalex.org/W2110405746","https://openalex.org/W2112164532","https://openalex.org/W2112669647","https://openalex.org/W2117228865","https://openalex.org/W2118223742","https://openalex.org/W2144933759","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2153054365","https://openalex.org/W2163704618","https://openalex.org/W2319876836","https://openalex.org/W2342437324","https://openalex.org/W2414248975","https://openalex.org/W2419168511","https://openalex.org/W2462964962","https://openalex.org/W2524199941","https://openalex.org/W2535547924","https://openalex.org/W2567328166","https://openalex.org/W2609294517","https://openalex.org/W2610207162","https://openalex.org/W2728498859","https://openalex.org/W2735939237","https://openalex.org/W2737824042","https://openalex.org/W2740418457","https://openalex.org/W2740891788","https://openalex.org/W2741562645","https://openalex.org/W2768554830","https://openalex.org/W2770135404","https://openalex.org/W2770176163","https://openalex.org/W2789100425","https://openalex.org/W2790124348","https://openalex.org/W2795158114","https://openalex.org/W2963562098","https://openalex.org/W2973689592","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3105489439","https://openalex.org/W4249592091","https://openalex.org/W6601039244","https://openalex.org/W6748528437","https://openalex.org/W6748674939"],"related_works":["https://openalex.org/W2040383159","https://openalex.org/W2390004782","https://openalex.org/W2114267838","https://openalex.org/W2356962014","https://openalex.org/W2031620013","https://openalex.org/W1536406305","https://openalex.org/W125675508","https://openalex.org/W2124872487","https://openalex.org/W2391245565","https://openalex.org/W2370729752"],"abstract_inverted_index":{"Autonomous":[0],"mobile":[1],"vehicles":[2],"are":[3,97,127],"expected":[4],"to":[5,50,73,88,115,129,211],"perform":[6],"persistent":[7],"and":[8,43,57,105,182,192],"accurate":[9],"localization":[10,25,101,159,198,227],"with":[11],"low-cost":[12],"equipment.":[13],"To":[14],"achieve":[15,51,157],"this":[16,117],"goal,":[17],"we":[18],"propose":[19],"a":[20,28,82,109],"stereo":[21],"camera":[22,58],"based":[23,120,151,225],"visual":[24,79,100,104,137,152,226],"method":[26,173,201],"using":[27,102],"modified":[29],"laser":[30,48,76,94,106,132,223],"map,":[31],"which":[32,122,188],"takes":[33],"the":[34,38,62,68,75,90,131,144,154,164,171,178,207,214,218,222],"advantage":[35],"of":[36,41,47,61,125,170,221],"both":[37,177],"low":[39],"cost":[40],"camera,":[42],"high":[44],"geometric":[45],"precision":[46],"data":[49],"long-term":[52],"performance.":[53],"Considering":[54],"that":[55,96,212],"LiDAR":[56],"give":[59],"measurements":[60,126,142],"same":[63],"environment":[64],"in":[65,93,185,213],"different":[66],"modalities,":[67],"cross-modal":[69,118],"invariance":[70],"is":[71,86,113,174,209],"investigated":[72],"modify":[74],"map":[77,83,111,133,165,224],"for":[78,99],"localization.":[80],"Specifically,":[81],"learning":[84],"algorithm":[85],"introduced":[87],"sample":[89],"robust":[91,158],"subsets":[92],"maps":[95],"useful":[98],"multi-session":[103],"data.":[107],"Further,":[108],"generative":[110],"model":[112,130],"derived":[114],"describe":[116],"invariance,":[119],"on":[121,176],"two":[123],"types":[124],"defined":[128],"points":[134],"as":[135],"appropriate":[136],"observations.":[138],"Tightly":[139],"coupling":[140],"these":[141],"within":[143],"local":[145],"bundle":[146],"adjustment":[147],"during":[148],"online":[149],"sliding-window":[150],"odometry,":[153],"vehicle":[155],"can":[156],"even":[160,205],"one":[161],"year":[162],"after":[163],"was":[166],"built.":[167],"The":[168],"effectiveness":[169],"proposed":[172],"evaluated":[175],"public":[179],"KITTI":[180],"datasets":[181,184],"self-collected":[183],"our":[186,200],"campus,":[187],"include":[189],"seasonal,":[190],"illumination":[191],"object":[193],"variations.":[194],"On":[195],"all":[196],"experimental":[197],"sessions,":[199],"provides":[202],"satisfactory":[203],"results,":[204],"when":[206],"direction":[208],"opposite":[210],"mapping":[215],"session,":[216],"verifying":[217],"superior":[219],"performance":[220],"method.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}