{"id":"https://openalex.org/W3048204614","doi":"https://doi.org/10.1109/tits.2020.3006854","title":"Pre-Estimating Self-Localization Error of NDT-Based Map-Matching From Map Only","display_name":"Pre-Estimating Self-Localization Error of NDT-Based Map-Matching From Map Only","publication_year":2020,"publication_date":"2020-08-05","ids":{"openalex":"https://openalex.org/W3048204614","doi":"https://doi.org/10.1109/tits.2020.3006854","mag":"3048204614"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2020.3006854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.3006854","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/A5080705403","display_name":"Ehsan Javanmardi","orcid":"https://orcid.org/0000-0003-0337-115X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ehsan Javanmardi","raw_affiliation_strings":["Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0337-115X","affiliations":[{"raw_affiliation_string":"Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070911378","display_name":"Mahdi Javanmardi","orcid":"https://orcid.org/0000-0001-6785-0139"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mahdi Javanmardi","raw_affiliation_strings":["Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6785-0139","affiliations":[{"raw_affiliation_string":"Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070068490","display_name":"Yanlei Gu","orcid":"https://orcid.org/0000-0001-9708-7429"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yanlei Gu","raw_affiliation_strings":["Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-9708-7429","affiliations":[{"raw_affiliation_string":"Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109244048","display_name":"Shunsuke Kamijo","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunsuke Kamijo","raw_affiliation_strings":["Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science (IIS), The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":31.01,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.99247619,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"22","issue":"12","first_page":"7652","last_page":"7666"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9976999759674072,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6222201585769653},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6170395016670227},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.5927780270576477},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.5807677507400513},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5643156170845032},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5105920433998108},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.49571144580841064},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.35697758197784424},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2864721119403839},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1705724596977234},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14475461840629578},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.14067435264587402},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.09173229336738586}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6222201585769653},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6170395016670227},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.5927780270576477},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.5807677507400513},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5643156170845032},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5105920433998108},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.49571144580841064},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35697758197784424},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2864721119403839},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1705724596977234},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14475461840629578},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.14067435264587402},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.09173229336738586},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2020.3006854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.3006854","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":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1525964230","https://openalex.org/W2060061906","https://openalex.org/W2094618559","https://openalex.org/W2097832352","https://openalex.org/W2130467949","https://openalex.org/W2131439959","https://openalex.org/W2133844819","https://openalex.org/W2144491133","https://openalex.org/W2160821342","https://openalex.org/W2260723623","https://openalex.org/W2476752140","https://openalex.org/W2566308409","https://openalex.org/W2605103573","https://openalex.org/W2612086569","https://openalex.org/W2613290397","https://openalex.org/W2737874330","https://openalex.org/W2742107142","https://openalex.org/W2757885920","https://openalex.org/W2765774826","https://openalex.org/W2804656766","https://openalex.org/W2891315244","https://openalex.org/W2897741729"],"related_works":["https://openalex.org/W4384112194","https://openalex.org/W2594043982","https://openalex.org/W3036493597","https://openalex.org/W2486104965","https://openalex.org/W2364521460","https://openalex.org/W2385361142","https://openalex.org/W2104082983","https://openalex.org/W2358919855","https://openalex.org/W2023784850","https://openalex.org/W1987769520"],"abstract_inverted_index":{"Map-matching":[0],"based":[1,190],"on":[2,191],"light":[3],"detection":[4],"and":[5,15,31,83,113,146,168],"ranging":[6],"(LiDAR)":[7],"is":[8,44,115,143,195],"a":[9,19,52,178],"promising":[10],"method":[11],"for":[12,94,103,123,180,207],"accurate":[13],"self-localization":[14],"recently":[16],"has":[17],"gained":[18],"wider":[20],"focus":[21],"due":[22,66],"to":[23,46,50,67,149,176],"the":[24,38,42,47,57,64,68,72,75,78,81,86,91,106,109,120,126,137,151,183,199,202,218,224,226,237],"availability":[25],"of":[26,33,41,56,63,70,74,80,105,108,136,153,182,201,223,236],"high":[27],"definition":[28],"(HD)":[29],"maps":[30],"price-down":[32],"LiDARs.":[34],"In":[35,97,132,174],"this":[36,133,154],"method,":[37],"input":[39],"scan":[40],"LiDAR":[43],"matched":[45],"prebuilt":[48],"map":[49,110,138],"get":[51],"centimeter-level":[53],"accuracy":[54,200],"position":[55],"vehicle.":[58],"However,":[59],"in":[60,147,210,221],"some":[61],"places":[62],"map,":[65],"lack":[69],"features,":[71,77,82],"presence":[73],"repetitive":[76],"layout":[79],"other":[84],"factors,":[85,158],"map-matching":[87,127,184],"error":[88,128,185,228],"might":[89],"exceed":[90],"required":[92],"bound":[93],"autonomous":[95],"driving.":[96],"our":[98],"previous":[99],"work,":[100,134],"four":[101,188],"criteria":[102,139,189],"evaluation":[104],"features":[107],"was":[111],"introduced":[112],"it":[114],"shown":[116],"that":[117,216],"by":[118],"examining":[119],"corresponding":[121],"factors":[122],"each":[124],"criterion,":[125,155],"can":[129,229],"be":[130,230],"modeled.":[131],"one":[135],"called":[140],"local":[141],"similarity":[142],"further":[144],"investigated":[145],"order":[148],"quantify":[150],"fulfillment":[152],"three":[156],"new":[157],"namely":[159],"<italic":[160,164,169],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[161,165,170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">pfh_similarity</i>":[162],",":[163,167],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">pfh_entropy</i>":[166],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">battacharya_similarity</i>":[171],"are":[172],"introduced.":[173],"addition":[175],"this,":[177],"framework":[179],"pre-estimation":[181],"considering":[186],"these":[187],"random":[192],"forest":[193],"regression":[194],"proposed.":[196],"To":[197],"evaluate":[198],"framework,":[203,220],"experiments":[204],"were":[205],"conducted":[206],"3.6":[208],"km":[209],"Shinjuku,":[211],"Tokyo.":[212],"Experimental":[213],"results":[214],"show":[215],"using":[217],"proposed":[219],"64.1%":[222],"cases,":[225],"localization":[227],"estimated":[231],"with":[232],"less":[233],"than":[234],"2.5cm":[235],"estimation":[238],"error.":[239]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":7}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}