{"id":"https://openalex.org/W7156155904","doi":"https://doi.org/10.48550/arxiv.2604.22040","title":"Robust Localization for Autonomous Vehicles in Highway Scenes","display_name":"Robust Localization for Autonomous Vehicles in Highway Scenes","publication_year":2026,"publication_date":"2026-04-23","ids":{"openalex":"https://openalex.org/W7156155904","doi":"https://doi.org/10.48550/arxiv.2604.22040"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.22040","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.22040","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.22040","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066943506","display_name":"Daqian Cheng","orcid":"https://orcid.org/0009-0006-9670-0328"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Daqian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134688685","display_name":"Xuchu Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Xuchu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134717916","display_name":"Yujia Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Yujia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134740551","display_name":"Xiang Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134704037","display_name":"Lei Wang","orcid":"https://orcid.org/0009-0003-8320-5078"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Lei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.644599974155426,"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":0.644599974155426,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.09780000150203705,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.08860000222921371,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7070000171661377},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.48730000853538513},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.42980000376701355},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3774000108242035},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.34139999747276306},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.34119999408721924},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.33640000224113464},{"id":"https://openalex.org/keywords/geographic-information-system","display_name":"Geographic information system","score":0.31940001249313354}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7070000171661377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5482000112533569},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.48730000853538513},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.42980000376701355},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39070001244544983},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3774000108242035},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.34119999408721924},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.33640000224113464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3312999904155731},{"id":"https://openalex.org/C41856607","wikidata":"https://www.wikidata.org/wiki/Q483130","display_name":"Geographic information system","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.31850001215934753},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3138999938964844},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.2930000126361847},{"id":"https://openalex.org/C2983325608","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Data association","level":3,"score":0.29260000586509705},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.28760001063346863},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.28690001368522644},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.28130000829696655},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.2809999883174896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.274399995803833},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.26820001006126404},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C75145180","wikidata":"https://www.wikidata.org/wiki/Q772007","display_name":"Georeference","level":2,"score":0.2540999948978424},{"id":"https://openalex.org/C2986162411","wikidata":"https://www.wikidata.org/wiki/Q702492","display_name":"Urban environment","level":2,"score":0.2515000104904175},{"id":"https://openalex.org/C9770341","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Geospatial analysis","level":2,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.22040","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.22040","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.22040","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.22040","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8073391318321228}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Localization":[0],"for":[1,15,105],"autonomous":[2],"vehicles":[3],"on":[4,43,125,153,160],"highways":[5,122],"remains":[6],"under-explored":[7],"compared":[8],"to":[9,22,53,73,85,145],"urban":[10,16,119,154],"roads,":[11],"and":[12,39,45,69,82,88,96,121,140,147],"state-of-the-art":[13],"methods":[14],"scenes":[17],"degrade":[18],"when":[19],"directly":[20],"applied":[21],"highways.":[23],"We":[24,47],"identify":[25],"key":[26],"challenges":[27],"including":[28],"environment":[29,75],"changes":[30],"under":[31],"information":[32],"homogeneity,":[33],"heavy":[34],"occlusion,":[35],"degraded":[36],"GNSS":[37],"signals,":[38],"stringent":[40],"downstream":[41],"requirements":[42],"accuracy":[44,138],"latency.":[46],"propose":[48],"a":[49,59,77,114],"robust":[50],"localization":[51,107],"system":[52,150,165],"address":[54],"highway":[55,128,162],"challenges,":[56],"which":[57],"uses":[58],"dual-likelihood":[60],"LiDAR":[61],"front":[62],"end":[63],"that":[64],"decouples":[65],"3D":[66],"geometric":[67],"structures":[68],"2D":[70],"road-texture":[71],"cues":[72],"handle":[74],"changes;":[76],"Control-EKF":[78],"further":[79],"leverages":[80],"steering":[81],"acceleration":[83],"commands":[84],"reduce":[86],"lag":[87],"improve":[89],"closed-loop":[90],"behavior.":[91],"An":[92],"automated":[93],"offline":[94],"mapping":[95],"ground-truth":[97],"pipeline":[98],"keep":[99],"maps":[100],"fresh":[101],"at":[102],"high":[103],"cadence":[104],"optimal":[106],"performance.":[108],"To":[109],"catalyze":[110],"progress,":[111],"we":[112],"release":[113],"public":[115],"dataset":[116],"covering":[117],"both":[118],"roads":[120,155],"while":[123],"focusing":[124],"representative":[126],"challenging":[127,161],"clips,":[129],"totaling":[130],"163":[131],"km;":[132],"benchmarking":[133],"is":[134],"standardized":[135],"using":[136],"product-oriented":[137],"metrics":[139],"certified":[141],"ground":[142],"truth.":[143],"Compared":[144],"Apollo":[146],"Autoware,":[148],"our":[149],"performs":[151],"similarly":[152],"but":[156],"shows":[157],"superior":[158],"robustness":[159],"scenarios.":[163],"The":[164],"has":[166],"been":[167],"validated":[168],"by":[169],"more":[170],"than":[171],"one":[172],"million":[173],"kilometers":[174],"of":[175],"road":[176],"testing.":[177]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-28T00:00:00"}