{"id":"https://openalex.org/W4416748798","doi":"https://doi.org/10.1109/iros60139.2025.11245940","title":"SCORE: Saturated Consensus Relocalization in Semantic Line Maps","display_name":"SCORE: Saturated Consensus Relocalization in Semantic Line Maps","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748798","doi":"https://doi.org/10.1109/iros60139.2025.11245940"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-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/A5018835332","display_name":"Haodong Jiang","orcid":"https://orcid.org/0000-0001-7015-1259"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haodong Jiang","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiang Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Zheng","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109791591","display_name":"Yanglin Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanglin Zhang","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103169944","display_name":"Qingcheng Zeng","orcid":"https://orcid.org/0009-0001-5196-0939"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qingcheng Zeng","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Robotics and Autonomous Systems Thrust, System Hub,Guangzhou,P. R. China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Robotics and Autonomous Systems Thrust, System Hub,Guangzhou,P. R. China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076461423","display_name":"Y. G. Li","orcid":"https://orcid.org/0000-0002-9011-8226"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiqian Li","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052377688","display_name":"Ziyang Hong","orcid":"https://orcid.org/0000-0001-9096-1750"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyang Hong","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101161507","display_name":"Wu Junfeng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junfeng Wu","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Data Science,Shenzhen,P. R. China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5018835332"],"corresponding_institution_ids":["https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":4.9682,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.96025571,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"16207","last_page":"16214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.4961000084877014,"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":0.4961000084877014,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.16030000150203705,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.09070000052452087,"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.7098000049591064},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.6836000084877014},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6389999985694885},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5651000142097473},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.5555999875068665},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4645000100135803},{"id":"https://openalex.org/keywords/expectation\u2013maximization-algorithm","display_name":"Expectation\u2013maximization algorithm","score":0.45559999346733093},{"id":"https://openalex.org/keywords/core","display_name":"Core (optical fiber)","score":0.4415999948978424},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.36899998784065247}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7098000049591064},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.6836000084877014},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6389999985694885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5752999782562256},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5651000142097473},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.5555999875068665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5108000040054321},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4645000100135803},{"id":"https://openalex.org/C182081679","wikidata":"https://www.wikidata.org/wiki/Q1275153","display_name":"Expectation\u2013maximization algorithm","level":3,"score":0.45559999346733093},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.4415999948978424},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.41269999742507935},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.36899998784065247},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.3425000011920929},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3257000148296356},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.3228999972343445},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.3149000108242035},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2985000014305115},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.296999990940094},{"id":"https://openalex.org/C18648836","wikidata":"https://www.wikidata.org/wiki/Q381892","display_name":"Compact space","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2896000146865845},{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.27630001306533813},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2687000036239624},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.2590000033378601}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1966526376","https://openalex.org/W2061246543","https://openalex.org/W2085261163","https://openalex.org/W2151103935","https://openalex.org/W2213387816","https://openalex.org/W2471962767","https://openalex.org/W2473967151","https://openalex.org/W2556455135","https://openalex.org/W2883804845","https://openalex.org/W2901398718","https://openalex.org/W2951019013","https://openalex.org/W2962705366","https://openalex.org/W2967579851","https://openalex.org/W3043075211","https://openalex.org/W3126469991","https://openalex.org/W3167259153","https://openalex.org/W3176602998","https://openalex.org/W3211492847","https://openalex.org/W4312532612","https://openalex.org/W4386076028","https://openalex.org/W4390872507","https://openalex.org/W4390872683","https://openalex.org/W4390873101","https://openalex.org/W4391128950","https://openalex.org/W4394698769","https://openalex.org/W4402916422","https://openalex.org/W4403059131","https://openalex.org/W4405786661","https://openalex.org/W4415537998","https://openalex.org/W4416748798"],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"SCORE,":[2],"a":[3,42],"visual":[4],"relocalization":[5],"system":[6],"that":[7],"achieves":[8],"unprecedented":[9],"map":[10],"compactness":[11],"through":[12],"semantically":[13],"labeled":[14],"3D":[15],"line":[16],"maps.":[17],"SCORE":[18],"requires":[19],"only":[20],"0.01%-0.1%":[21],"of":[22,111],"the":[23,105,109],"storage":[24],"needed":[25],"by":[26,56],"structure-based":[27],"or":[28],"learning-based":[29],"baselines,":[30],"while":[31],"maintaining":[32],"practical":[33],"accuracy":[34],"and":[35,101],"comparable":[36],"runtime.":[37],"The":[38],"key":[39],"innovation":[40],"is":[41],"novel":[43],"robust":[44],"mechanism,":[45],"Saturated":[46],"Consensus":[47,53],"Maximization":[48,54],"(Sat-CM),":[49],"which":[50],"generalizes":[51],"classical":[52],"(CM)":[55],"assigning":[57],"diminishing":[58],"weights":[59],"to":[60,71],"inlier":[61],"associations":[62],"with":[63],"probabilistic":[64],"justification.":[65],"Under":[66],"extreme":[67],"outlier":[68],"ratios":[69],"(up":[70],"99.5%)":[72],"arising":[73],"from":[74],"one-to-many":[75],"ambiguity":[76],"in":[77],"semantic":[78],"matching,":[79],"Sat-CM":[80,99],"enables":[81],"accurate":[82],"estimation":[83],"when":[84],"CM":[85],"fails.":[86],"To":[87],"ensure":[88],"computational":[89],"efficiency,":[90],"we":[91],"propose":[92],"an":[93],"accelerating":[94],"framework":[95],"for":[96,104],"globally":[97],"solving":[98],"formulations":[100],"specialize":[102],"it":[103],"Perspective-n-Lines":[106],"problem":[107],"at":[108],"core":[110],"SCORE.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-11-28T00:00:00"}
