{"id":"https://openalex.org/W4376607641","doi":"https://doi.org/10.1109/tpami.2023.3276204","title":"Hong Kong World: Leveraging Structural Regularity for Line-based SLAM","display_name":"Hong Kong World: Leveraging Structural Regularity for Line-based SLAM","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4376607641","doi":"https://doi.org/10.1109/tpami.2023.3276204","pmid":"https://pubmed.ncbi.nlm.nih.gov/37186524"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2023.3276204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2023.3276204","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5040338788","display_name":"Haoang Li","orcid":"https://orcid.org/0000-0002-1576-9408"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Haoang Li","raw_affiliation_strings":["Department of Informatics, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068087511","display_name":"Ji Zhao","orcid":"https://orcid.org/0000-0002-0150-4601"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji Zhao","raw_affiliation_strings":["TuSimple, Beijing, China"],"affiliations":[{"raw_affiliation_string":"TuSimple, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029086954","display_name":"Jean\u2010Charles Bazin","orcid":"https://orcid.org/0000-0001-7660-4802"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jean-Charles Bazin","raw_affiliation_strings":["School of Electrical Engineering and the Graduate School of Culture Technology, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and the Graduate School of Culture Technology, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068710825","display_name":"Pyojin Kim","orcid":"https://orcid.org/0000-0002-5605-8848"},"institutions":[{"id":"https://openalex.org/I31766871","display_name":"Sookmyung Women's University","ror":"https://ror.org/00vvvt117","country_code":"KR","type":"education","lineage":["https://openalex.org/I31766871"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Pyojin Kim","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Sookmyung Women&#x0027;s University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Sookmyung Women&#x0027;s University, Seoul, South Korea","institution_ids":["https://openalex.org/I31766871"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016637653","display_name":"Kyungdon Joo","orcid":"https://orcid.org/0000-0002-3920-9608"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyungdon Joo","raw_affiliation_strings":["Artificial Intelligence Graduate School and the Department of Computer Science, Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Graduate School and the Department of Computer Science, Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113430829","display_name":"Zhenjun Zhao","orcid":"https://orcid.org/0009-0000-6551-4537"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenjun Zhao","raw_affiliation_strings":["Department of Mechanical and Automation Engineering and CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering and CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering and CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering and CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5040338788"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":12.3393,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.98593695,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"45","issue":"11","first_page":"1","last_page":"18"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6308250427246094},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6123071908950806},{"id":"https://openalex.org/keywords/atlanta","display_name":"Atlanta","score":0.5094524025917053},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45948466658592224},{"id":"https://openalex.org/keywords/orthogonality","display_name":"Orthogonality","score":0.4361543357372284},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.42170649766921997},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3709908723831177},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.247775137424469},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13615551590919495},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.12098366022109985},{"id":"https://openalex.org/keywords/metropolitan-area","display_name":"Metropolitan area","score":0.11695629358291626}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6308250427246094},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6123071908950806},{"id":"https://openalex.org/C2778037673","wikidata":"https://www.wikidata.org/wiki/Q4034536","display_name":"Atlanta","level":3,"score":0.5094524025917053},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45948466658592224},{"id":"https://openalex.org/C17137986","wikidata":"https://www.wikidata.org/wiki/Q215067","display_name":"Orthogonality","level":2,"score":0.4361543357372284},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.42170649766921997},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3709908723831177},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.247775137424469},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13615551590919495},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.12098366022109985},{"id":"https://openalex.org/C158739034","wikidata":"https://www.wikidata.org/wiki/Q1907114","display_name":"Metropolitan area","level":2,"score":0.11695629358291626},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tpami.2023.3276204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2023.3276204","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:37186524","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37186524","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on pattern analysis and machine intelligence","raw_type":null},{"id":"pmh:oai:scholarworks.unist.ac.kr:201301/64797","is_oa":false,"landing_page_url":"https://scholarworks.unist.ac.kr/handle/201301/64797","pdf_url":null,"source":{"id":"https://openalex.org/S4306401118","display_name":"Scholarworks@UNIST (Ulsan National Institute of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I48566637","host_organization_name":"Ulsan National Institute of Science and Technology","host_organization_lineage":["https://openalex.org/I48566637"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ARTICLE"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1498183729","https://openalex.org/W1612997784","https://openalex.org/W1993228150","https://openalex.org/W1993267444","https://openalex.org/W2008849352","https://openalex.org/W2021851106","https://openalex.org/W2028431412","https://openalex.org/W2033819227","https://openalex.org/W2043630212","https://openalex.org/W2059470495","https://openalex.org/W2083347703","https://openalex.org/W2085261163","https://openalex.org/W2098890714","https://openalex.org/W2102271310","https://openalex.org/W2102747584","https://openalex.org/W2114674762","https://openalex.org/W2128019145","https://openalex.org/W2136527382","https://openalex.org/W2150804191","https://openalex.org/W2152671441","https://openalex.org/W2160072137","https://openalex.org/W2168241268","https://openalex.org/W2185786809","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2473967151","https://openalex.org/W2519914946","https://openalex.org/W2539923485","https://openalex.org/W2585956660","https://openalex.org/W2602708169","https://openalex.org/W2611857613","https://openalex.org/W2738596250","https://openalex.org/W2745007981","https://openalex.org/W2745859992","https://openalex.org/W2792266081","https://openalex.org/W2889958683","https://openalex.org/W2892177182","https://openalex.org/W2909648691","https://openalex.org/W2962760512","https://openalex.org/W2963200201","https://openalex.org/W2967494572","https://openalex.org/W2968607842","https://openalex.org/W2982160750","https://openalex.org/W3003406474","https://openalex.org/W3024065181","https://openalex.org/W3084473397","https://openalex.org/W3101593594","https://openalex.org/W3124420883","https://openalex.org/W3143735381","https://openalex.org/W3177438851","https://openalex.org/W3204928082","https://openalex.org/W4298876134","https://openalex.org/W4313150053"],"related_works":["https://openalex.org/W2520048907","https://openalex.org/W2523761444","https://openalex.org/W2509970833","https://openalex.org/W2509293974","https://openalex.org/W4398542975","https://openalex.org/W3121811124","https://openalex.org/W3015899480","https://openalex.org/W4398348394","https://openalex.org/W4398750969","https://openalex.org/W4398629489"],"abstract_inverted_index":{"Manhattan":[0,29,58,99],"and":[1,12,38,59,81,92,110,116,169,185,218,223,258,265],"Atlanta":[2,60],"worlds":[3,30,61,100],"hold":[4],"for":[5,129,163,229],"the":[6,19,66,103,122,130,174,181,192,199,204,235,255,275],"structured":[7],"scenes":[8,20],"with":[9,21,68,73,78,85],"only":[10,108],"vertical":[11,109],"horizontal":[13,111,115],"dominant":[14],"directions":[15],"(DDs).":[16],"To":[17],"describe":[18],"additional":[22],"sloping":[23,79,117],"DDs,":[24,112,184],"a":[25,45,71,76,82,95,153,158,243],"mixture":[26,96],"of":[27,97,125,166,183,191,194,278,295],"independent":[28,98],"seems":[31],"plausible,":[32],"but":[33,113],"may":[34],"lead":[35],"to":[36,139,253,262],"unaligned":[37],"unrelated":[39],"DDs.":[40,118],"By":[41],"contrast,":[42],"we":[43,144,197,233,248,273],"propose":[44],"novel":[46,244],"structural":[47,123],"model":[48],"called":[49],"Hong":[50,126,149,210,239,282],"Kong":[51,127,150,211,240,283],"world.":[52,212,284],"It":[53],"is":[54,89,136,173,220],"more":[55,90,221],"general":[56],"than":[57,94,225,267],"since":[62],"it":[63,88],"can":[64,178],"represent":[65],"environments":[67],"slopes,":[69],"e.g.,":[70],"city":[72],"hilly":[74],"terrain,":[75],"house":[77],"roof,":[80],"loft":[83],"apartment":[84],"staircase.":[86],"Moreover,":[87],"compact":[91],"accurate":[93,222],"by":[101,202,242],"enforcing":[102],"orthogonality":[104],"constraints":[105],"between":[106,207],"not":[107],"also":[114],"We":[119,156],"further":[120],"leverage":[121],"regularity":[124],"world":[128,151,241],"line-based":[131],"SLAM.":[132],"Our":[133],"SLAM":[134],"method":[135,172,214],"reliable":[137],"thanks":[138],"three":[140],"technical":[141],"novelties.":[142],"First,":[143],"estimate":[145],"DDs/vanishing":[146],"points":[147],"in":[148,152,189,209,238,281,293],"semi-searching":[154],"way.":[155],"use":[157,249],"new":[159],"consensus":[160],"voting":[161],"strategy":[162],"search,":[164],"instead":[165],"traditional":[167],"branch":[168],"bound.":[170],"This":[171,213],"first":[175,276],"one":[176],"that":[177,287],"simultaneously":[179],"determine":[180],"number":[182,193],"achieve":[186],"quasi-global":[187],"optimality":[188],"terms":[190,294],"inliers.":[195],"Second,":[196],"compute":[198],"camera":[200,256],"pose":[201],"exploiting":[203],"spatial":[205],"relations":[206],"DDs":[208,237,252],"generates":[215],"concise":[216],"polynomials,":[217],"thus":[219],"efficient":[224],"existing":[226,268],"approaches":[227],"designed":[228],"unstructured":[230],"scenes.":[231],"Third,":[232],"refine":[234],"estimated":[236],"filter-based":[245],"method.":[246],"Then":[247],"these":[250],"refined":[251],"optimize":[254],"poses":[257],"3D":[259],"lines,":[260],"leading":[261],"higher":[263],"accuracy":[264,296],"robustness":[266],"optimization":[269],"algorithms.":[270],"In":[271],"addition,":[272],"establish":[274],"dataset":[277],"sequential":[279],"images":[280],"Experiments":[285],"showed":[286],"our":[288],"approach":[289],"outperforms":[290],"state-of-the-art":[291],"methods":[292],"and/or":[297],"efficiency.":[298]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
