{"id":"https://openalex.org/W4214832114","doi":"https://doi.org/10.3390/s22051913","title":"Development of a GPU-Accelerated NDT Localization Algorithm for GNSS-Denied Urban Areas","display_name":"Development of a GPU-Accelerated NDT Localization Algorithm for GNSS-Denied Urban Areas","publication_year":2022,"publication_date":"2022-03-01","ids":{"openalex":"https://openalex.org/W4214832114","doi":"https://doi.org/10.3390/s22051913","pmid":"https://pubmed.ncbi.nlm.nih.gov/35271060"},"language":"en","primary_location":{"id":"doi:10.3390/s22051913","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22051913","pdf_url":"https://www.mdpi.com/1424-8220/22/5/1913/pdf?version=1646136486","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/22/5/1913/pdf?version=1646136486","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085906185","display_name":"Keon Woo Jang","orcid":"https://orcid.org/0000-0003-2464-4719"},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Keon Woo Jang","raw_affiliation_strings":["Department of Automotive Engineering, Kookmin University, 77 Jeongneung-ro, Seongbuk-gu, Seoul 02707, Korea"],"raw_orcid":"https://orcid.org/0000-0003-2464-4719","affiliations":[{"raw_affiliation_string":"Department of Automotive Engineering, Kookmin University, 77 Jeongneung-ro, Seongbuk-gu, Seoul 02707, Korea","institution_ids":["https://openalex.org/I110273157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059827483","display_name":"Woo Jae Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woo Jae Jeong","raw_affiliation_strings":["Department of Automotive Engineering, Kookmin University, 77 Jeongneung-ro, Seongbuk-gu, Seoul 02707, Korea"],"raw_orcid":"https://orcid.org/0000-0001-9351-5537","affiliations":[{"raw_affiliation_string":"Department of Automotive Engineering, Kookmin University, 77 Jeongneung-ro, Seongbuk-gu, Seoul 02707, Korea","institution_ids":["https://openalex.org/I110273157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058423505","display_name":"Yeonsik Kang","orcid":"https://orcid.org/0000-0003-4667-3748"},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yeonsik Kang","raw_affiliation_strings":["Department of Automotive Engineering, Kookmin University, 77 Jeongneung-ro, Seongbuk-gu, Seoul 02707, Korea"],"raw_orcid":"https://orcid.org/0000-0003-4667-3748","affiliations":[{"raw_affiliation_string":"Department of Automotive Engineering, Kookmin University, 77 Jeongneung-ro, Seongbuk-gu, Seoul 02707, Korea","institution_ids":["https://openalex.org/I110273157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5058423505"],"corresponding_institution_ids":["https://openalex.org/I110273157"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":4.4567,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.94246171,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"22","issue":"5","first_page":"1913","last_page":"1913"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7748087644577026},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.768260657787323},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6644225120544434},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.6049180030822754},{"id":"https://openalex.org/keywords/graphics-processing-unit","display_name":"Graphics processing unit","score":0.5809228420257568},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5804498195648193},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5065752267837524},{"id":"https://openalex.org/keywords/cuda","display_name":"CUDA","score":0.4688110649585724},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4440138041973114},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3281248211860657},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3207525312900543},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.17471176385879517},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.152220219373703}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7748087644577026},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.768260657787323},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6644225120544434},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.6049180030822754},{"id":"https://openalex.org/C2779851693","wikidata":"https://www.wikidata.org/wiki/Q183484","display_name":"Graphics processing unit","level":2,"score":0.5809228420257568},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5804498195648193},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5065752267837524},{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.4688110649585724},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4440138041973114},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3281248211860657},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3207525312900543},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.17471176385879517},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.152220219373703},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s22051913","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22051913","pdf_url":"https://www.mdpi.com/1424-8220/22/5/1913/pdf?version=1646136486","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:35271060","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35271060","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:ae06e5c9dd334b8ab1b58e7d4b6b9b74","is_oa":true,"landing_page_url":"https://doaj.org/article/ae06e5c9dd334b8ab1b58e7d4b6b9b74","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 22, Iss 5, p 1913 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/5/1913/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22051913","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 22; Issue 5; Pages: 1913","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8914899","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8914899","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s22051913","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22051913","pdf_url":"https://www.mdpi.com/1424-8220/22/5/1913/pdf?version=1646136486","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1074105679","display_name":null,"funder_award_id":"N0002428","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G3109758654","display_name":null,"funder_award_id":"5199990814084","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G5900772158","display_name":null,"funder_award_id":"NRF-2021R1A2C2003254","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G8369417548","display_name":null,"funder_award_id":"2021R1A2C2003254","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G8931739522","display_name":null,"funder_award_id":"N0002428","funder_id":"https://openalex.org/F4320322064","funder_display_name":"Korea Institute for Advancement of Technology"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322064","display_name":"Korea Institute for Advancement of Technology","ror":"https://ror.org/015w1qa96"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320322349","display_name":"Ministry of Education, Science and Technology","ror":"https://ror.org/01p262204"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4214832114.pdf","grobid_xml":"https://content.openalex.org/works/W4214832114.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1479814506","https://openalex.org/W1567242735","https://openalex.org/W1612997784","https://openalex.org/W1650975994","https://openalex.org/W1896855614","https://openalex.org/W1944610132","https://openalex.org/W2000335122","https://openalex.org/W2038678236","https://openalex.org/W2142284218","https://openalex.org/W2152671441","https://openalex.org/W2152864241","https://openalex.org/W2241804422","https://openalex.org/W2289656154","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2486452906","https://openalex.org/W2523775010","https://openalex.org/W2565104410","https://openalex.org/W2613626094","https://openalex.org/W2725938612","https://openalex.org/W2740024839","https://openalex.org/W2766127076","https://openalex.org/W2803361295","https://openalex.org/W2908325530","https://openalex.org/W2914625278","https://openalex.org/W2938818630","https://openalex.org/W2963600667","https://openalex.org/W3003263134","https://openalex.org/W3035574168","https://openalex.org/W3043971245","https://openalex.org/W3047375952","https://openalex.org/W3129245057","https://openalex.org/W6637636807"],"related_works":["https://openalex.org/W2119534391","https://openalex.org/W2023770367","https://openalex.org/W2503137108","https://openalex.org/W1966576946","https://openalex.org/W2765743988","https://openalex.org/W2062253548","https://openalex.org/W2393490604","https://openalex.org/W2393707426","https://openalex.org/W2229844714","https://openalex.org/W2020279179"],"abstract_inverted_index":{"There":[0],"are":[1],"numerous":[2],"global":[3],"navigation":[4],"satellite":[5],"system-denied":[6],"regions":[7],"in":[8],"urban":[9],"areas,":[10],"where":[11],"the":[12,42,61,69,130,143,147,150,158,176,184,188],"localization":[13,45,66,159,196],"of":[14,44,64,72,121,129,146,157,175,187],"autonomous":[15],"driving":[16],"remains":[17],"a":[18,24,80,87],"challenge.":[19],"To":[20,76,141],"address":[21],"this":[22,77,93,110],"problem,":[23],"high-resolution":[25],"light":[26],"detection":[27],"and":[28,139,153,164,172],"ranging":[29],"(LiDAR)":[30],"sensor":[31],"was":[32,84,107,133],"recently":[33],"developed.":[34],"Various":[35],"methods":[36],"have":[37],"been":[38],"proposed":[39,131,148,177],"to":[40,59],"improve":[41],"accuracy":[43,71],"using":[46,135,162],"precise":[47],"distance":[48,169],"measurements":[49],"derived":[50],"from":[51],"LiDAR":[52,65],"sensors.":[53],"This":[54],"study":[55],"proposes":[56],"an":[57,114,122,136],"algorithm":[58,115,132,178,182],"accelerate":[60],"computational":[62,173,185],"speed":[63,186],"while":[67,193],"maintaining":[68,194],"original":[70],"lightweight":[73],"map-matching":[74,125],"algorithms.":[75],"end,":[78],"first,":[79],"point":[81],"cloud":[82],"map":[83],"transformed":[85],"into":[86],"normal":[88,96],"distribution":[89,97],"(ND)":[90],"map.":[91],"During":[92],"process,":[94],"vector-based":[95],"transform,":[98],"suitable":[99],"for":[100],"graphics":[101],"processing":[102,120,155],"unit":[103],"(GPU)":[104],"parallel":[105,119,154],"processing,":[106],"used.":[108],"In":[109],"study,":[111],"we":[112],"introduce":[113],"that":[116],"enabled":[117],"GPU":[118],"existing":[123],"ND":[124],"process.":[126],"The":[127,168,181],"performance":[128,145],"verified":[134],"open":[137],"dataset":[138],"simulations.":[140],"verify":[142],"practical":[144],"algorithm,":[149],"real-time":[151],"serial":[152],"performances":[156],"were":[160,179],"compared":[161],"high-performance":[163],"embedded":[165,189],"computers,":[166],"respectively.":[167],"root-mean-square":[170],"error":[171],"time":[174],"compared.":[180],"increased":[183],"computer":[190],"almost":[191],"100-fold":[192],"high":[195],"precision.":[197]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
