{"id":"https://openalex.org/W4312880567","doi":"https://doi.org/10.1109/tits.2022.3223219","title":"Pseudo-Anchors: Robust Semantic Features for Lidar Mapping in Highly Dynamic Scenarios","display_name":"Pseudo-Anchors: Robust Semantic Features for Lidar Mapping in Highly Dynamic Scenarios","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4312880567","doi":"https://doi.org/10.1109/tits.2022.3223219"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3223219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3223219","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/A5023387730","display_name":"Chenxi Yang","orcid":"https://orcid.org/0000-0002-4152-1422"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenxi Yang","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-4152-1422","affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101805392","display_name":"Lei He","orcid":"https://orcid.org/0000-0003-0076-4775"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei He","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0076-4775","affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078656916","display_name":"Hanyang Zhuang","orcid":"https://orcid.org/0000-0001-6668-9523"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I18570673","display_name":"Guangxi University of Science and Technology","ror":"https://ror.org/02fj6b627","country_code":"CN","type":"education","lineage":["https://openalex.org/I18570673"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanyang Zhuang","raw_affiliation_strings":["University of Michigan&#x2014;Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai, China","Guangxi Key Laboratory of Automobile Components and Vehicle Technology, Guangxi University of Science and Technology, Liuzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6668-9523","affiliations":[{"raw_affiliation_string":"University of Michigan&#x2014;Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Guangxi Key Laboratory of Automobile Components and Vehicle Technology, Guangxi University of Science and Technology, Liuzhou, China","institution_ids":["https://openalex.org/I18570673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048517656","display_name":"Chunxiang Wang","orcid":"https://orcid.org/0000-0002-6885-6740"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunxiang Wang","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-6885-6740","affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009256880","display_name":"Ming Yang","orcid":"https://orcid.org/0000-0002-8679-9137"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Yang","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8679-9137","affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6135,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.93740916,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9976000189781189,"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":0.9940999746322632,"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/gnss-applications","display_name":"GNSS applications","score":0.7050912380218506},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6989555358886719},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6490326523780823},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6214120984077454},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5042101144790649},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.49043652415275574},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.47259220480918884},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.42345547676086426},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40583571791648865},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39693373441696167},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.380869597196579},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.28057998418807983},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.27872610092163086},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1463237702846527},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11401960253715515},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10657644271850586}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7050912380218506},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6989555358886719},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6490326523780823},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6214120984077454},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5042101144790649},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.49043652415275574},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.47259220480918884},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.42345547676086426},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40583571791648865},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39693373441696167},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.380869597196579},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.28057998418807983},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.27872610092163086},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1463237702846527},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11401960253715515},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10657644271850586},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2022.3223219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3223219","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":[{"id":"https://openalex.org/G2191662638","display_name":null,"funder_award_id":"U22A20100","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2591868390","display_name":null,"funder_award_id":"61873165","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3994246717","display_name":null,"funder_award_id":"62173228","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5961668314","display_name":null,"funder_award_id":"62203294","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W2009345891","https://openalex.org/W2014001040","https://openalex.org/W2021851106","https://openalex.org/W2103544971","https://openalex.org/W2137052305","https://openalex.org/W2146881125","https://openalex.org/W2150066425","https://openalex.org/W2153054365","https://openalex.org/W2277848489","https://openalex.org/W2399766563","https://openalex.org/W2470269552","https://openalex.org/W2515303922","https://openalex.org/W2563294506","https://openalex.org/W2612086569","https://openalex.org/W2740156952","https://openalex.org/W2883659536","https://openalex.org/W2908388950","https://openalex.org/W2909449108","https://openalex.org/W2909908358","https://openalex.org/W2921062571","https://openalex.org/W2971174307","https://openalex.org/W3003991701","https://openalex.org/W3089503906","https://openalex.org/W3167610791","https://openalex.org/W4206613380","https://openalex.org/W4249736682"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4313854656"],"abstract_inverted_index":{"Dynamic":[0],"environments":[1],"are":[2,56,72,134],"challenging":[3],"for":[4,77,136,202],"anchor-free":[5],"mapping":[6,78],"using":[7],"lidar":[8,154],"in":[9,161],"intelligent":[10],"driving.":[11],"This":[12],"study":[13],"imitates":[14],"anchor-based":[15],"approaches":[16],"such":[17,39,99],"as":[18,44,100,116,127],"magnetic":[19],"nails":[20],"by":[21,59],"applying":[22],"novel":[23],"Static":[24],"Confidence":[25],"Criteria":[26],"(SCC)":[27],"to":[28,33,49,111,143,204],"the":[29,50,108,113,121,145,152,157,172,184,191,200],"point-cloud":[30],"semantic":[31],"candidates":[32],"ensure":[34],"their":[35],"robustness.":[36],"We":[37],"name":[38],"verified":[40],"features":[41,206],"Pseudo-Anchors":[42],"(P-A)":[43],"they":[45,71],"hold":[46],"similar":[47],"properties":[48],"anchor":[51,130],"nodes:":[52],"The":[53,139,148,165],"P-A":[54,146,192],"nodes":[55],"improbably":[57],"formed":[58],"dynamic":[60,163],"objects,":[61],"and":[62],"nodes\u2019":[63],"blockage":[64],"state":[65],"can":[66,123],"be":[67,124],"immediately":[68],"noticed":[69],"once":[70],"occluded.":[73],"Another":[74],"major":[75],"challenge":[76],"is":[79,141],"improving":[80],"large-scale":[81,175],"global":[82,177],"performance":[83],"without":[84],"sacrificing":[85],"local":[86,94,185],"consistency.":[87],"Unrecognized":[88],"GNSS":[89,122,173],"pose":[90],"drift":[91],"may":[92],"deteriorate":[93],"trajectory":[95],"accuracy":[96],"through":[97],"post-processing":[98],"graph":[101],"optimization.":[102],"In":[103],"this":[104,137],"study,":[105],"we":[106],"use":[107],"road":[109],"network":[110],"provide":[112],"intersection":[114],"information":[115],"a":[117,128,188,195],"prior":[118],"so":[119],"that":[120,151,168],"better":[125],"regarded":[126],"reliable":[129],"factor.":[131],"Three":[132],"experiments":[133],"designed":[135],"study.":[138],"first":[140],"ablations":[142],"verify":[144],"concept;":[147],"second":[149],"proves":[150],"P-A-based":[153],"odometry":[155],"outperformed":[156],"LOAM-based":[158],"mainstream":[159],"methods":[160],"highly":[162],"scenarios;":[164],"third":[166],"shows":[167,194],"our":[169],"usage":[170],"of":[171],"strengthens":[174],"maps\u2019":[176],"consistency":[178],"while":[179],"causing":[180],"less":[181],"deterioration":[182],"towards":[183],"one.":[186],"As":[187],"knowledge-based":[189],"method,":[190],"concept":[193],"high":[196],"deployment":[197],"efficiency,":[198],"indicating":[199],"potential":[201],"migration":[203],"other":[205,209],"or":[207],"even":[208],"sensors.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
