{"id":"https://openalex.org/W4385801430","doi":"https://doi.org/10.1109/vtc2023-spring57618.2023.10199461","title":"CloudVision: DNN-based Visual Localization of Autonomous Robots using Prebuilt LiDAR Point Cloud","display_name":"CloudVision: DNN-based Visual Localization of Autonomous Robots using Prebuilt LiDAR Point Cloud","publication_year":2023,"publication_date":"2023-06-01","ids":{"openalex":"https://openalex.org/W4385801430","doi":"https://doi.org/10.1109/vtc2023-spring57618.2023.10199461"},"language":"en","primary_location":{"id":"doi:10.1109/vtc2023-spring57618.2023.10199461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vtc2023-spring57618.2023.10199461","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 97th Vehicular Technology Conference (VTC2023-Spring)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5114119966","display_name":"E.V. Yudin","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Evgeny Yudin","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012574152","display_name":"Pavel Karpyshev","orcid":"https://orcid.org/0000-0003-1573-3197"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Pavel Karpyshev","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068691144","display_name":"Mikhail Kurenkov","orcid":"https://orcid.org/0000-0001-5718-956X"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Mikhail Kurenkov","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072936940","display_name":"Alena Savinykh","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Alena Savinykh","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000509814","display_name":"\u0410ndrei S. Potapov","orcid":"https://orcid.org/0000-0003-2360-7473"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Andrei Potapov","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063162375","display_name":"Evgeny Kruzhkov","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Evgeny Kruzhkov","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9994000196456909,"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":0.9973999857902527,"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/point-cloud","display_name":"Point cloud","score":0.791800320148468},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7880847454071045},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7816962003707886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7801470756530762},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7501941919326782},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6731299757957458},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6225877404212952},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6191375851631165},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5387822389602661},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48178383708000183},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.22014886140823364},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1009073257446289}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.791800320148468},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7880847454071045},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7816962003707886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7801470756530762},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7501941919326782},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6731299757957458},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6225877404212952},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6191375851631165},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5387822389602661},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48178383708000183},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.22014886140823364},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1009073257446289},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/vtc2023-spring57618.2023.10199461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vtc2023-spring57618.2023.10199461","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 97th Vehicular Technology Conference (VTC2023-Spring)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2013270301","https://openalex.org/W2150066425","https://openalex.org/W2200124539","https://openalex.org/W2296228853","https://openalex.org/W2471962767","https://openalex.org/W2909908358","https://openalex.org/W2951019013","https://openalex.org/W2955730076","https://openalex.org/W2962705366","https://openalex.org/W2963760790","https://openalex.org/W2966932193","https://openalex.org/W2968040091","https://openalex.org/W2971097982","https://openalex.org/W2997361350","https://openalex.org/W3034275286","https://openalex.org/W3034486798","https://openalex.org/W3043075211","https://openalex.org/W3045264917","https://openalex.org/W3118414639","https://openalex.org/W3141915075","https://openalex.org/W3176602998","https://openalex.org/W3179987205","https://openalex.org/W3187917571","https://openalex.org/W3202897040","https://openalex.org/W3205085146","https://openalex.org/W3209216267","https://openalex.org/W3214919204","https://openalex.org/W3216210154","https://openalex.org/W4210665925","https://openalex.org/W4226396378","https://openalex.org/W4312325479","https://openalex.org/W6697304529","https://openalex.org/W6747043499","https://openalex.org/W6772287949"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"we":[3,157],"propose":[4],"a":[5,53,91],"novel":[6],"visual":[7,29,85],"localization":[8,45,123,155,197],"approach":[9,88],"to":[10,82,159,188],"accurately":[11],"estimate":[12],"six":[13],"degrees":[14],"of":[15,19,51,69,104,144,152,184],"freedom":[16],"(6-DoF)":[17],"poses":[18],"the":[20,23,61,67,70,75,105,122,136,141,150,154,163,182,190],"robot":[21,93],"within":[22],"3D":[24,36,71],"LiDAR":[25,98],"map":[26,37],"based":[27],"on":[28,135],"data":[30],"from":[31,60],"an":[32,41,96],"RGB":[33,113],"camera.":[34],"The":[35,57,130,173],"is":[38,79],"obtained":[39],"utilizing":[40],"advanced":[42],"LiDAR-based":[43],"simultaneous":[44],"and":[46,73,107,146],"mapping":[47,103],"(SLAM)":[48],"algorithm":[49],"capable":[50],"collecting":[52],"precise":[54,84,174],"sparse":[55],"map.":[56],"features":[58],"extracted":[59],"camera":[62],"images":[63],"are":[64],"compared":[65],"with":[66,95,111,121,177],"points":[68],"map,":[72],"then":[74],"geometric":[76],"optimization":[77],"problem":[78],"being":[80],"solved":[81],"achieve":[83,160],"localization.":[86],"Our":[87],"allows":[89],"employing":[90],"scout":[92],"equipped":[94],"expensive":[97],"only":[99,112,178],"once":[100],"\u2014":[101,116],"for":[102,117],"environment,":[106],"multiple":[108],"operational":[109],"robots":[110,187],"cameras":[114,179],"onboard":[115],"performing":[118],"mission":[119],"tasks,":[120],"accuracy":[124],"higher":[125],"than":[126],"common":[127],"camera-based":[128],"solutions.":[129],"proposed":[131],"method":[132],"was":[133,167],"tested":[134],"custom":[137],"dataset":[138],"collected":[139],"in":[140],"Skolkovo":[142],"Institute":[143],"Science":[145],"Technology":[147],"(Skoltech).":[148],"During":[149],"process":[151],"assessing":[153],"accuracy,":[156],"managed":[158],"centimeter-level":[161],"accuracy;":[162],"median":[164],"translation":[165],"error":[166],"as":[168,170],"low":[169],"1.3":[171],"cm.":[172],"positioning":[175],"achieved":[176],"makes":[180],"possible":[181],"usage":[183],"autonomous":[185],"mobile":[186],"solve":[189],"most":[191],"complex":[192],"tasks":[193],"that":[194],"require":[195],"high":[196],"accuracy.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}