{"id":"https://openalex.org/W4410582588","doi":"https://doi.org/10.1109/tits.2025.3568220","title":"Cross-Source Place Recognition for Unmanned Aerial-Ground Vehicles With Low-Overlap and Varying-Density Point Cloud","display_name":"Cross-Source Place Recognition for Unmanned Aerial-Ground Vehicles With Low-Overlap and Varying-Density Point Cloud","publication_year":2025,"publication_date":"2025-05-21","ids":{"openalex":"https://openalex.org/W4410582588","doi":"https://doi.org/10.1109/tits.2025.3568220"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3568220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3568220","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":null,"display_name":"Jiawei Wang","orcid":"https://orcid.org/0000-0003-4046-6924"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiawei Wang","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-4046-6924","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009698718","display_name":"Yan Zhuang","orcid":"https://orcid.org/0000-0002-7640-4330"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zhuang","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-7640-4330","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087549046","display_name":"Fei Yan","orcid":"https://orcid.org/0000-0002-3454-5987"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Yan","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-3454-5987","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101442817","display_name":"Xuetao Zhang","orcid":"https://orcid.org/0000-0002-8485-8818"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuetao Zhang","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-8485-8818","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":4.7878,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93719928,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"26","issue":"10","first_page":"15077","last_page":"15086"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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":0.9986000061035156,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.992900013923645,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9735999703407288,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.7561063170433044},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6599571108818054},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4780595600605011},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47744494676589966},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4467487931251526},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38289517164230347},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.37731167674064636},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.33478567004203796},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2768092751502991},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2316240668296814},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17009204626083374},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1079152524471283}],"concepts":[{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.7561063170433044},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6599571108818054},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4780595600605011},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47744494676589966},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4467487931251526},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38289517164230347},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.37731167674064636},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.33478567004203796},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2768092751502991},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2316240668296814},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17009204626083374},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1079152524471283}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3568220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3568220","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/G1123105928","display_name":null,"funder_award_id":"U22B2041","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4526024024","display_name":null,"funder_award_id":"2022Z022063001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6071371962","display_name":null,"funder_award_id":"2022Z022063001","funder_id":"https://openalex.org/F4320322857","funder_display_name":"Aeronautical Science Foundation of China"},{"id":"https://openalex.org/G692502946","display_name":null,"funder_award_id":"62173056","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"},{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W2620629206","https://openalex.org/W2895056134","https://openalex.org/W2963588253","https://openalex.org/W2963708168","https://openalex.org/W2981995220","https://openalex.org/W2986519585","https://openalex.org/W3006630370","https://openalex.org/W3168086592","https://openalex.org/W3168256178","https://openalex.org/W3173736705","https://openalex.org/W3179694074","https://openalex.org/W3201256746","https://openalex.org/W3202756173","https://openalex.org/W4210423514","https://openalex.org/W4285102223","https://openalex.org/W4285225540","https://openalex.org/W4312584283","https://openalex.org/W4313148639","https://openalex.org/W4313639518","https://openalex.org/W4383200234","https://openalex.org/W4387415326","https://openalex.org/W4387717541","https://openalex.org/W4390872503","https://openalex.org/W4390905262","https://openalex.org/W4391992324","https://openalex.org/W4395056564","https://openalex.org/W4400487989","https://openalex.org/W4401507554","https://openalex.org/W4403094394","https://openalex.org/W4403826958"],"related_works":["https://openalex.org/W2011003748","https://openalex.org/W4389574804","https://openalex.org/W2105907810","https://openalex.org/W3016928466","https://openalex.org/W2936725271","https://openalex.org/W2067341686","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W1511703026","https://openalex.org/W1578717197"],"abstract_inverted_index":{"Cross-source":[0],"place":[1,61,88],"recognition":[2,89],"is":[3,104],"the":[4,32,38,46,49,58,85,119,162,204],"foundation":[5],"of":[6,41,60,87,121,164,206,210],"collaborative":[7],"mapping":[8],"tasks":[9],"between":[10,124],"Unmanned":[11,16],"Aerial":[12],"Vehicles":[13,18],"(UAVs)":[14],"and":[15,24,77,183],"Ground":[17],"(UGVs)":[19],"to":[20,31,48,106,114,134,152,167],"achieve":[21],"loop":[22],"closure":[23],"global":[25,122,165],"localization":[26],"in":[27,35,142,200],"outdoor":[28],"environments.":[29],"Due":[30],"dynamic":[33,140],"changes":[34,141],"communication":[36,143],"bandwidth,":[37,144],"point":[39,42,79,92,115,126,130,135,168,191,208,211],"density":[40,136,169],"clouds":[43,127],"transmitted":[44],"from":[45,110],"robots":[47],"server":[50],"will":[51],"also":[52],"change":[53],"simultaneously,":[54],"which":[55,117,160],"significantly":[56],"affects":[57],"accuracy":[59,86],"recognition.":[62],"This":[63],"article":[64],"proposes":[65],"a":[66,94,147,179],"hierarchical":[67,148],"BEV":[68,149,155,172],"fusion":[69,150],"network":[70,196],"for":[71,90],"unmanned":[72],"aerial-ground":[73,181,187],"vehicles":[74],"with":[75,189],"low-overlap":[76,91,125,190],"varying-density":[78],"clouds,":[80,93,192],"called":[81],"HBFusion.":[82],"To":[83,132],"improve":[84],"multi-resolution":[95],"voxel":[96,108],"feature":[97],"aggregation":[98],"module":[99,151],"based":[100],"on":[101,177],"sparse":[102],"convolution":[103],"proposed":[105],"aggregate":[107],"features":[109,156],"multi-scale":[111],"receptive":[112],"fields":[113],"features,":[116],"improves":[118,161],"similarity":[120],"descriptors":[123,166],"using":[128,171],"rich":[129],"features.":[131],"adapt":[133],"variations":[137,170],"caused":[138],"by":[139],"we":[145],"propose":[146],"extract":[153],"multi-layer":[154],"at":[157],"different":[158],"heights,":[159],"adaptability":[163],"representations.":[173],"Extensive":[174],"experiments":[175],"performed":[176],"GrAco,":[178],"public":[180],"dataset,":[182],"DUT-GA,":[184],"our":[185,195],"self-recorded":[186],"dataset":[188],"indicate":[193],"that":[194],"achieves":[197],"state-of-the-art":[198],"performance":[199],"accuracy,":[201],"even":[202],"under":[203],"condition":[205],"varying":[207],"densities":[209],"clouds.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}