{"id":"https://openalex.org/W3179694074","doi":"https://doi.org/10.1109/lra.2021.3091386","title":"BVMatch: Lidar-Based Place Recognition Using Bird's-Eye View Images","display_name":"BVMatch: Lidar-Based Place Recognition Using Bird's-Eye View Images","publication_year":2021,"publication_date":"2021-07-01","ids":{"openalex":"https://openalex.org/W3179694074","doi":"https://doi.org/10.1109/lra.2021.3091386","mag":"3179694074"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3091386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3091386","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2109.00317","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Lun Luo","orcid":"https://orcid.org/0000-0002-0531-9171"},"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":"Lun Luo","raw_affiliation_strings":["College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0531-9171","affiliations":[{"raw_affiliation_string":"College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Si-Yuan Cao","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":false,"raw_author_name":"Si-Yuan Cao","raw_affiliation_strings":["College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bin Han","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":false,"raw_author_name":"Bin Han","raw_affiliation_strings":["College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hui-Liang Shen","orcid":"https://orcid.org/0000-0001-8469-019X"},"institutions":[{"id":"https://openalex.org/I109935558","display_name":"Ningbo University","ror":"https://ror.org/03et85d35","country_code":"CN","type":"education","lineage":["https://openalex.org/I109935558"]},{"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":"Hui-Liang Shen","raw_affiliation_strings":["College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, China","Ningbo Research Institute, Zhejiang University, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0001-8469-019X","affiliations":[{"raw_affiliation_string":"College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Ningbo Research Institute, Zhejiang University, Ningbo, China","institution_ids":["https://openalex.org/I109935558","https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":null,"display_name":"Junwei Li","orcid":null},"institutions":[{"id":"https://openalex.org/I109935558","display_name":"Ningbo University","ror":"https://ror.org/03et85d35","country_code":"CN","type":"education","lineage":["https://openalex.org/I109935558"]},{"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":"Junwei Li","raw_affiliation_strings":["College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, China","Ningbo Research Institute, Zhejiang University, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Ningbo Research Institute, Zhejiang University, Ningbo, China","institution_ids":["https://openalex.org/I109935558","https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":54.6888,"has_fulltext":false,"cited_by_count":87,"citation_normalized_percentile":{"value":0.99765134,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"6","issue":"3","first_page":"6076","last_page":"6083"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8848000168800354,"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":0.8848000168800354,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.02319999970495701,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.02070000022649765,"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/point-cloud","display_name":"Point cloud","score":0.6733999848365784},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6028000116348267},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5830000042915344},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5220999717712402},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4884999990463257},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4853000044822693},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4542999863624573}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7113000154495239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6876999735832214},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6733999848365784},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6060000061988831},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6028000116348267},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5830000042915344},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5220999717712402},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4884999990463257},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4853000044822693},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4542999863624573},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45399999618530273},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.43529999256134033},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.42289999127388},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.3723999857902527},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.3301999866962433},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.25850000977516174}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3091386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3091386","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2109.00317","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.00317","pdf_url":"https://arxiv.org/pdf/2109.00317","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2109.00317","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.00317","pdf_url":"https://arxiv.org/pdf/2109.00317","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4676281165","display_name":null,"funder_award_id":"BIGF010001","funder_id":"https://openalex.org/F4320320022","funder_display_name":"Sight Research UK"},{"id":"https://openalex.org/G8616192033","display_name":null,"funder_award_id":"BIGF010001","funder_id":"https://openalex.org/F4320334631","funder_display_name":"Natural Environment Research Council"}],"funders":[{"id":"https://openalex.org/F4320320022","display_name":"Sight Research UK","ror":"https://ror.org/03z2py885"},{"id":"https://openalex.org/F4320334631","display_name":"Natural Environment Research Council","ror":"https://ror.org/02b5d8509"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1542779841","https://openalex.org/W1612997784","https://openalex.org/W1944919755","https://openalex.org/W1988322066","https://openalex.org/W1989484209","https://openalex.org/W1999050017","https://openalex.org/W2085261163","https://openalex.org/W2117228865","https://openalex.org/W2124701069","https://openalex.org/W2128017662","https://openalex.org/W2151103935","https://openalex.org/W2160643963","https://openalex.org/W2335829695","https://openalex.org/W2461937780","https://openalex.org/W2555618208","https://openalex.org/W2558027072","https://openalex.org/W2565998037","https://openalex.org/W2798194297","https://openalex.org/W2798278946","https://openalex.org/W2910489334","https://openalex.org/W2914921243","https://openalex.org/W2951019013","https://openalex.org/W2980535048","https://openalex.org/W2986519585","https://openalex.org/W2996444841","https://openalex.org/W3039808820","https://openalex.org/W3089353397","https://openalex.org/W3090139470","https://openalex.org/W3097606838","https://openalex.org/W3167448933","https://openalex.org/W6631707545","https://openalex.org/W6676024211","https://openalex.org/W6683433371","https://openalex.org/W6763422710"],"related_works":[],"abstract_inverted_index":{"Recognizing":[0],"places":[1],"using":[2],"Lidar":[3,63,135],"in":[4,93,160],"large-scale":[5,151],"environments":[6],"is":[7,31,118],"challenging":[8],"due":[9],"to":[10,65,78,120],"the":[11,40,43,55,87,91,94,98,129,134,143,157],"sparse":[12],"nature":[13],"of":[14,33,75,90,101,125,162,166],"point":[15],"cloud":[16],"data.":[17],"In":[18],"this":[19],"letter":[20],"we":[21,52,132],"present":[22],"BVMatch,":[23],"a":[24,50,73,80,106],"Lidar-based":[25],"frame-to-frame":[26],"place":[27,136,167],"recognition":[28,137,168],"framework,":[29],"that":[30,42,85,154],"capable":[32],"estimating":[34],"2D":[35],"relative":[36],"poses.":[37],"Based":[38],"on":[39,149],"assumption":[41],"ground":[44,56],"area":[45,57],"can":[46],"be":[47],"approximated":[48],"as":[49],"plane,":[51],"uniformly":[53],"discretize":[54],"into":[58,142],"grids":[59],"and":[60,104,122,138,169],"project":[61],"3D":[62],"scans":[64],"bird's-eye":[66,110],"view":[67,111],"(BV)":[68],"images.":[69,95,127],"We":[70,96],"further":[71],"use":[72],"bank":[74],"Log-Gabor":[76],"filters":[77],"build":[79],"maximum":[81],"index":[82],"map":[83],"(MIM)":[84],"encodes":[86],"orientation":[88,99],"information":[89],"structures":[92],"analyze":[97],"characteristics":[100],"MIM":[102],"theoretically":[103],"introduce":[105],"novel":[107],"descriptor":[108],"called":[109],"feature":[112],"transform":[113],"(BVFT).":[114],"The":[115,146],"proposed":[116],"BVFT":[117,130],"insensitive":[119],"rotation":[121],"intensity":[123],"variations":[124],"BV":[126],"Leveraging":[128],"descriptors,":[131],"unify":[133],"pose":[139,170],"estimation":[140,171],"tasks":[141],"BVMatch":[144,155],"framework.":[145],"experiments":[147],"conducted":[148],"three":[150],"datasets":[152],"show":[153],"outperforms":[156],"state-of-the-art":[158],"methods":[159],"terms":[161],"both":[163],"recall":[164],"rate":[165],"accuracy.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2021-07-19T00:00:00"}