{"id":"https://openalex.org/W4413344131","doi":"https://doi.org/10.1109/tits.2025.3597598","title":"SGHD: Semantic-Geometric Combined 3-D Histogram Descriptor for Global Localization in Autonomous Vehicles","display_name":"SGHD: Semantic-Geometric Combined 3-D Histogram Descriptor for Global Localization in Autonomous Vehicles","publication_year":2025,"publication_date":"2025-08-19","ids":{"openalex":"https://openalex.org/W4413344131","doi":"https://doi.org/10.1109/tits.2025.3597598"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3597598","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3597598","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/A5012265341","display_name":"Fan Wang","orcid":"https://orcid.org/0000-0002-2954-1113"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Wang","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-2954-1113","affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055763899","display_name":"Cuiyun Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cuiyun Fang","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101319191","display_name":"Nanhao Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanhao Liang","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":"https://orcid.org/0009-0009-5808-7843","affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080698751","display_name":"Chaofan Zhang","orcid":"https://orcid.org/0000-0002-5306-2577"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaofan Zhang","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-5306-2577","affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100637838","display_name":"Wen Zhang","orcid":"https://orcid.org/0009-0004-2880-5254"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Zhang","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051163255","display_name":"Guoqing Deng","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoqing Deng","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087164211","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0001-9122-2378"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210134251","display_name":"Anhui Institute of Optics and Fine Mechanics","ror":"https://ror.org/03bzbv419","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210134251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210134251","https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.27015756,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"26","issue":"11","first_page":"20562","last_page":"20576"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"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":0.9962000250816345,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9909999966621399,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.980400025844574,"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/histogram","display_name":"Histogram","score":0.6978697776794434},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.597563624382019},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5840973854064941},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5326563715934753},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.34746426343917847},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.18644964694976807}],"concepts":[{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.6978697776794434},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.597563624382019},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5840973854064941},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5326563715934753},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.34746426343917847},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.18644964694976807}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3597598","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3597598","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/G4236725704","display_name":null,"funder_award_id":"62102395","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":48,"referenced_works":["https://openalex.org/W1988322066","https://openalex.org/W2085261163","https://openalex.org/W2117228865","https://openalex.org/W2152864241","https://openalex.org/W2565998037","https://openalex.org/W2910489334","https://openalex.org/W2951019013","https://openalex.org/W2957348723","https://openalex.org/W2963708168","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3011465262","https://openalex.org/W3092669602","https://openalex.org/W3129920626","https://openalex.org/W3130609318","https://openalex.org/W3132982513","https://openalex.org/W3168291432","https://openalex.org/W3192680689","https://openalex.org/W3205251654","https://openalex.org/W3211389689","https://openalex.org/W4225621014","https://openalex.org/W4285147600","https://openalex.org/W4309591753","https://openalex.org/W4312275786","https://openalex.org/W4312950313","https://openalex.org/W4313598847","https://openalex.org/W4383066341","https://openalex.org/W4390489134","https://openalex.org/W4390778110","https://openalex.org/W4390873617","https://openalex.org/W4390905132","https://openalex.org/W4391216062","https://openalex.org/W4391365559","https://openalex.org/W4391992324","https://openalex.org/W4392093365","https://openalex.org/W4392515775","https://openalex.org/W4392545523","https://openalex.org/W4392794016","https://openalex.org/W4392824840","https://openalex.org/W4392902057","https://openalex.org/W4393154837","https://openalex.org/W4398151456","https://openalex.org/W4400314601","https://openalex.org/W4401417260","https://openalex.org/W4402753845","https://openalex.org/W4402778054","https://openalex.org/W4405081529","https://openalex.org/W4409683675"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"LiDAR-based":[0],"global":[1,22,175,193],"localization":[2],"plays":[3],"a":[4,57,138],"crucial":[5],"role":[6],"in":[7,16,45],"autonomous":[8],"driving":[9],"and":[10,43,49,72,81,93,122,133,136,150,165,174,184,189,218],"robotic":[11],"systems.":[12],"However,":[13],"real-time":[14],"changes":[15],"environmental":[17],"conditions":[18],"present":[19],"challenges":[20],"for":[21,115,192],"localization.":[23,194],"Current":[24],"methods":[25,204],"predominantly":[26],"rely":[27],"on":[28,119,205],"sparse":[29],"LiDAR":[30],"point":[31,90],"clouds":[32],"with":[33,68,202],"single-feature":[34],"information":[35,121,135],"(semantic":[36],"or":[37],"geometric),":[38],"leading":[39],"to":[40,222],"insufficient":[41],"accuracy":[42],"robustness":[44],"6-DOF":[46,166,186],"pose":[47,74,167,187],"estimation":[48,75,168,188],"similarity":[50,163],"matching.":[51],"In":[52],"this":[53],"work,":[54],"we":[55,97,111,126],"propose":[56,137],"novel":[58],"semantic-geometric":[59],"combined":[60],"3D":[61,139,143],"histogram":[62,140,144],"descriptor,":[63,67],"called":[64],"the":[65,99,128,155,158,179,198,206],"SGHD":[66,200,214,228],"robust":[69],"place":[70,190],"recognition":[71,191],"6-DoF":[73],"capabilities.":[76],"We":[77,161,195],"first":[78],"extract":[79],"semantic":[80,94,120,132,176],"geometric":[82,134],"features":[83],"of":[84,101,131,157,172,227],"objects":[85,103],"through":[86,169],"operations":[87],"such":[88],"as":[89],"cloud":[91],"clustering":[92],"segmentation.":[95],"Next,":[96],"describe":[98],"distribution":[100],"neighboring":[102],"using":[104],"topological":[105],"structures.":[106],"To":[107],"improve":[108],"object":[109,117],"discriminability,":[110],"construct":[112],"triangular":[113],"descriptors":[114],"each":[116],"based":[118],"relative":[123,151],"distance.":[124],"Subsequently,":[125],"consider":[127],"complementary":[129],"nature":[130],"descriptor.":[141,160],"This":[142],"descriptor":[145,181,201],"encodes":[146],"semantic,":[147],"spatial":[148],"angle":[149],"distance":[152],"information,":[153],"enhancing":[154],"invariance":[156],"triangle":[159],"perform":[162],"discrimination":[164],"coarse-to-fine":[170],"matching":[171],"local":[173],"maps.":[177],"Overall,":[178],"proposed":[180,199],"achieves":[182],"high-accuracy":[183],"high-robustness":[185],"extensively":[196],"compared":[197,221],"state-of-the-art":[203],"public":[207],"SemanticKITTI":[208],"dataset.":[209],"Quantitative":[210],"results":[211],"demonstrate":[212],"that":[213],"exhibits":[215],"higher":[216],"adaptability":[217],"significant":[219],"improvements":[220],"its":[223],"counterparts.":[224],"The":[225],"implementation":[226],"will":[229],"be":[230],"released":[231],"at":[232],"<uri":[233],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[234],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/wf-hahaha/SGHD</uri>":[235]},"counts_by_year":[],"updated_date":"2025-11-12T23:11:45.498971","created_date":"2025-10-10T00:00:00"}