{"id":"https://openalex.org/W4408144747","doi":"https://doi.org/10.1109/tro.2025.3543267","title":"RING#: PR-By-PE Global Localization With Roto-Translation Equivariant Gram Learning","display_name":"RING#: PR-By-PE Global Localization With Roto-Translation Equivariant Gram Learning","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408144747","doi":"https://doi.org/10.1109/tro.2025.3543267"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3543267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3543267","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5102908238","display_name":"Sha Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sha Lu","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2330-6737","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080268597","display_name":"Xuecheng Xu","orcid":"https://orcid.org/0000-0002-0762-6714"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuecheng Xu","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0762-6714","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035174542","display_name":"Dongkun Zhang","orcid":"https://orcid.org/0000-0002-0811-4964"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongkun Zhang","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0811-4964","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuxuan Wu","orcid":"https://orcid.org/0009-0000-9494-7497"},"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":"Yuxuan Wu","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0000-9494-7497","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057948288","display_name":"Haojian Lu","orcid":"https://orcid.org/0000-0002-1393-3040"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haojian Lu","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1393-3040","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032262344","display_name":"Xieyuanli Chen","orcid":"https://orcid.org/0000-0003-0955-6681"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xieyuanli Chen","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-0955-6681","affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-9318-9014","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0981-935X","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5102908238"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":6.1193,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.95426167,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"1861","last_page":"1881"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9063000082969666,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9063000082969666,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/equivariant-map","display_name":"Equivariant map","score":0.5736044645309448},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5601128339767456},{"id":"https://openalex.org/keywords/ring","display_name":"Ring (chemistry)","score":0.5186488032341003},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4850265383720398},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4321141839027405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33352696895599365},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31952768564224243},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.1745850145816803}],"concepts":[{"id":"https://openalex.org/C171036898","wikidata":"https://www.wikidata.org/wiki/Q256355","display_name":"Equivariant map","level":2,"score":0.5736044645309448},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5601128339767456},{"id":"https://openalex.org/C2780378348","wikidata":"https://www.wikidata.org/wiki/Q25351438","display_name":"Ring (chemistry)","level":2,"score":0.5186488032341003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4850265383720398},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4321141839027405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33352696895599365},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31952768564224243},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.1745850145816803},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3543267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3543267","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4026317426","display_name":null,"funder_award_id":"62373322","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4611955052","display_name":null,"funder_award_id":"62373322","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8436007315","display_name":null,"funder_award_id":"2023YFB4704402","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program 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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":86,"referenced_works":["https://openalex.org/W153084048","https://openalex.org/W1577581905","https://openalex.org/W1612997784","https://openalex.org/W1677409904","https://openalex.org/W1974093076","https://openalex.org/W1989484209","https://openalex.org/W2071027807","https://openalex.org/W2083624955","https://openalex.org/W2085261163","https://openalex.org/W2103924867","https://openalex.org/W2106199912","https://openalex.org/W2110405746","https://openalex.org/W2117228865","https://openalex.org/W2127102696","https://openalex.org/W2130017587","https://openalex.org/W2144824356","https://openalex.org/W2147238549","https://openalex.org/W2151103935","https://openalex.org/W2155056756","https://openalex.org/W2162536300","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2284029970","https://openalex.org/W2335829695","https://openalex.org/W2558027072","https://openalex.org/W2565998037","https://openalex.org/W2910489334","https://openalex.org/W2951019013","https://openalex.org/W2955544543","https://openalex.org/W2962705366","https://openalex.org/W2963588253","https://openalex.org/W2963708168","https://openalex.org/W3007240855","https://openalex.org/W3011465262","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3090139470","https://openalex.org/W3095367607","https://openalex.org/W3097606838","https://openalex.org/W3104213423","https://openalex.org/W3109395584","https://openalex.org/W3120082156","https://openalex.org/W3130266661","https://openalex.org/W3130609318","https://openalex.org/W3133154446","https://openalex.org/W3166285241","https://openalex.org/W3168086592","https://openalex.org/W3173736705","https://openalex.org/W3177271542","https://openalex.org/W3192680689","https://openalex.org/W3203518786","https://openalex.org/W3204429916","https://openalex.org/W3209386405","https://openalex.org/W3211389689","https://openalex.org/W4221154336","https://openalex.org/W4225793049","https://openalex.org/W4285147600","https://openalex.org/W4309591753","https://openalex.org/W4312336574","https://openalex.org/W4312894406","https://openalex.org/W4312942802","https://openalex.org/W4313148639","https://openalex.org/W4319300119","https://openalex.org/W4323914395","https://openalex.org/W4382464460","https://openalex.org/W4383097417","https://openalex.org/W4385815496","https://openalex.org/W4385975620","https://openalex.org/W4386066001","https://openalex.org/W4386072002","https://openalex.org/W4386590175","https://openalex.org/W4389819300","https://openalex.org/W4394564083","https://openalex.org/W4399207470","https://openalex.org/W6631190155","https://openalex.org/W6754870635","https://openalex.org/W6763422710","https://openalex.org/W6766978945","https://openalex.org/W6767104088","https://openalex.org/W6770485707","https://openalex.org/W6802311648","https://openalex.org/W6811230113","https://openalex.org/W6851800889","https://openalex.org/W6852868426","https://openalex.org/W6853417860","https://openalex.org/W6874077968"],"related_works":["https://openalex.org/W3148895720","https://openalex.org/W2393913406","https://openalex.org/W2356579025","https://openalex.org/W2736697936","https://openalex.org/W3211835374","https://openalex.org/W30258475","https://openalex.org/W2548611373","https://openalex.org/W1601809778","https://openalex.org/W3169304289","https://openalex.org/W2373733345"],"abstract_inverted_index":{"Global":[0,25],"localization":[1,36,73,101],"using":[2],"onboard":[3],"perception":[4],"sensors,":[5,15],"such":[6],"as":[7],"cameras":[8],"and":[9,12,21,42,149,168,180,183,195],"light":[10],"detection":[11],"ranging":[13],"(LiDAR)":[14],"is":[16],"crucial":[17],"in":[18,84,89,140,192],"autonomous":[19],"driving":[20],"robotics":[22],"applications":[23],"when":[24],"Positioning":[26],"System":[27],"(GPS)":[28],"signals":[29],"are":[30],"unreliable.":[31],"Most":[32],"approaches":[33],"achieve":[34],"global":[35],"by":[37,122],"sequential":[38],"place":[39],"recognition":[40],"(PR)":[41],"pose":[43],"estimation":[44],"(PE).":[45],"Some":[46],"methods":[47,191],"train":[48],"separate":[49,66,120],"models":[50],"for":[51,119],"each":[52],"task,":[53],"while":[54],"others":[55],"employ":[56],"a":[57,108,154],"single":[58],"model":[59],"with":[60,65,86,146],"dual":[61],"heads,":[62],"trained":[63],"jointly":[64],"task-specific":[67],"losses.":[68],"However,":[69],"the":[70,77,97,117,141,175,199,202],"accuracy":[71],"of":[72,79,100,201],"heavily":[74],"depends":[75],"on":[76,174],"success":[78],"PR,":[80],"which":[81,115],"often":[82],"fails":[83],"scenarios":[85],"significant":[87],"changes":[88],"viewpoint":[90],"or":[91],"environmental":[92],"appearance.":[93],"Consequently,":[94],"this":[95],"renders":[96],"final":[98],"PE":[99],"ineffective.":[102],"To":[103],"address":[104],"this,":[105],"we":[106],"introduce":[107],"new":[109],"paradigm,":[110],"<italic":[111,133],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[112,134],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">PR-by-PE":[113,135],"localization</i>,":[114],"bypasses":[116],"need":[118],"PR":[121],"directly":[123],"deriving":[124],"it":[125],"from":[126,162],"PE.":[127,171],"We":[128],"propose":[129],"RING#,":[130],"an":[131],"end-to-end":[132],"localization</i>":[136],"network":[137],"that":[138,157,187],"operates":[139],"bird's-eye-view":[142],"(BEV)":[143],"space,":[144],"compatible":[145],"both":[147,193],"vision":[148,179,194],"LiDAR":[150,181,196],"sensors.":[151],"RING#":[152,188],"incorporates":[153],"novel":[155],"design":[156],"learns":[158],"two":[159],"equivariant":[160],"representations":[161],"BEV":[163],"features,":[164],"enabling":[165],"globally":[166],"convergent":[167],"computationally":[169],"efficient":[170],"Comprehensive":[172],"experiments":[173],"north":[176],"campus":[177],"long-term":[178],"(NCLT)":[182],"Oxford":[184],"datasets":[185],"show":[186],"outperforms":[189],"state-of-the-art":[190],"modalities,":[197],"validating":[198],"effectiveness":[200],"proposed":[203],"approach.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}
