{"id":"https://openalex.org/W4413553354","doi":"https://doi.org/10.1109/tits.2025.3599515","title":"Plane-Based Stereo Visual Localization With a Prior LiDAR Map","display_name":"Plane-Based Stereo Visual Localization With a Prior LiDAR Map","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4413553354","doi":"https://doi.org/10.1109/tits.2025.3599515"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3599515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3599515","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/A5112089499","display_name":"Young\u2010Soo Han","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngsoo Han","raw_affiliation_strings":["Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-8776-3219","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078908386","display_name":"Youngseok Jang","orcid":"https://orcid.org/0000-0002-6833-8986"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]},{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngseok Jang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering and ASRI, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-6833-8986","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering and ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I118373667","https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101519873","display_name":"Changhyeon Kim","orcid":"https://orcid.org/0000-0003-4384-1902"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Changhyeon Kim","raw_affiliation_strings":["Samsung Research, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-4384-1902","affiliations":[{"raw_affiliation_string":"Samsung Research, Seoul, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106698595","display_name":"Seungyeon Yoo","orcid":"https://orcid.org/0009-0005-3999-588X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seungyeon Yoo","raw_affiliation_strings":["Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0009-0005-3999-588X","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073996122","display_name":"H. Jin Kim","orcid":"https://orcid.org/0000-0002-6819-1136"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. Jin Kim","raw_affiliation_strings":["Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-6819-1136","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"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":0.26031186,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"26","issue":"10","first_page":"15361","last_page":"15374"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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":0.9977999925613403,"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/lidar","display_name":"Lidar","score":0.7962185144424438},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7591915726661682},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6624425649642944},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5322480201721191},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4781162142753601},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4666208028793335},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3661305904388428},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3528112769126892},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.3458104133605957},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17614328861236572},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16572386026382446}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7962185144424438},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7591915726661682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6624425649642944},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5322480201721191},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4781162142753601},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4666208028793335},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3661305904388428},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3528112769126892},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.3458104133605957},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17614328861236572},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16572386026382446}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3599515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3599515","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":[],"funders":[{"id":"https://openalex.org/F4320336769","display_name":"Institute of Engineering Research, Seoul National University","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2021851106","https://openalex.org/W2117248802","https://openalex.org/W2128019145","https://openalex.org/W2150066425","https://openalex.org/W2213648495","https://openalex.org/W2396274919","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2567328166","https://openalex.org/W2772036109","https://openalex.org/W2909955272","https://openalex.org/W2938170127","https://openalex.org/W2953809838","https://openalex.org/W2954297243","https://openalex.org/W2964220950","https://openalex.org/W2989819309","https://openalex.org/W2999389630","https://openalex.org/W2999751264","https://openalex.org/W3002581747","https://openalex.org/W3037010467","https://openalex.org/W3043971245","https://openalex.org/W3048204614","https://openalex.org/W3091332390","https://openalex.org/W3094586482","https://openalex.org/W3104718463","https://openalex.org/W3130129454","https://openalex.org/W3170994844","https://openalex.org/W3196275894","https://openalex.org/W3207456022","https://openalex.org/W3211006023","https://openalex.org/W4225108957","https://openalex.org/W4285102387","https://openalex.org/W4285138757","https://openalex.org/W4308486818","https://openalex.org/W4383097459","https://openalex.org/W4387245333"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"In":[0,48,176],"autonomous":[1],"driving,":[2],"a":[3,10,28,39,46,80,89,126],"prior":[4],"LiDAR":[5],"map(PLM)":[6],"is":[7,27,57,131,139],"used":[8],"as":[9],"powerful":[11],"tool":[12],"for":[13],"correcting":[14],"SLAM":[15],"drift,":[16],"but":[17],"finding":[18],"robust":[19,95,188],"and":[20,63,83,94,102,105,145,148,161,173,187],"accurate":[21,93,186],"correspondences":[22],"between":[23,97],"cross":[24],"modal":[25],"sensors":[26],"challenging":[29],"problem.":[30],"To":[31,117],"address":[32],"this":[33,36,74],"cross-modality":[34],"issue,":[35],"paper":[37],"proposes":[38],"real-time":[40],"plane-based":[41,60],"stereo":[42],"localization":[43],"system":[44,138,183],"with":[45],"PLM.":[47],"the":[49,64,98,119,123,136,153,164,179,181,192],"proposed":[50,137,182],"system,":[51],"drift":[52,128],"in":[53,73,79,88,108,171],"visual":[54,99],"pose":[55],"estimation":[56,129],"eliminated":[58],"through":[59,158],"joint":[61],"optimization":[62],"registration":[65,124],"module.":[66],"Two":[67],"types":[68],"of":[69,122,135,155,178],"planes":[70,107],"are":[71,110],"employed":[72],"system:":[75],"surfel,":[76],"ensuring":[77],"accuracy":[78],"narrow":[81],"domain,":[82],"global":[84,106],"plane,":[85],"providing":[86],"robustness":[87,165],"wide":[90],"area.":[91],"For":[92],"matching":[96],"map":[100],"point":[101],"PLM,":[103],"surfels":[104],"PLM":[109,172],"utilized":[111],"collaboratively":[112],"based":[113],"on":[114],"point-to-PLM":[115],"distance.":[116],"reduce":[118],"computational":[120],"cost":[121],"module,":[125],"plane-to-plane":[127],"module":[130,157],"proposed.":[132],"The":[133],"performance":[134,189],"extensively":[140],"validated":[141],"across":[142],"synthetic":[143],"simulation":[144],"real-world":[146],"indoor":[147],"outdoor":[149],"datasets.":[150],"We":[151],"validate":[152],"effectiveness":[154],"each":[156],"ablation":[159],"studies":[160],"also":[162],"assess":[163],"against":[166],"error":[167],"that":[168],"may":[169],"exist":[170],"initial":[174],"pose.":[175],"most":[177],"validation,":[180],"shows":[184],"more":[185],"compared":[190],"to":[191],"state-of-the-art":[193],"methods.":[194]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}