A Localization Algorithm Based on Global Descriptor and Dynamic Range Search Article Swipe
Yongzhe Chen
,
Gang Wang
,
Wei Zhou
,
Tongzhou Zhang
,
Hao Zhang
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/rs15051190
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/rs15051190
The map-based localization method is considered an effective supplement to the localization under the GNSS-denied environment. However, since the map is constituted by the dispersed keyframes, it sometimes happens that the initial position of the unmanned ground vehicle (UGV) lies between the map keyframes or is not on the mapping trajectory. In both cases, it will be impossible to precisely estimate the pose of the vehicle directly via the relationship between the current frame and the map keyframes, leading to localization failure. In this regard, we propose a localization algorithm based on the global descriptor and dynamic range search (LA-GDADRS). In specific, we first design a global descriptor shift and rotation invariant image (SRI), which improves the rotation invariance and shift invariance by the methods of coordinates removal and de-centralization. Secondly, we design a global localization algorithm for shift and rotation invariant branch-and-bound scan matching (SRI-BBS). It first leverages SRI to obtain an approximate priori position of the unmanned vehicle and then utilizes the similarity between the current frame SRI and the map keyframes SRI to select a dynamic search range around the priori position. Within the search range, we leverage the branch-and-bound scanning matching algorithm to search for a more precise pose. It solves the problem that global localization tends to fail when the priori position is imprecise. Moreover, we introduce a tightly coupled factor graph model and a HD map engine to achieve real-time position tracking and lane-level localization, respectively. Finally, we complete extensive ablation experiments and comparative experiments to validate our methods on the benchmark dataset (KITTI) and the real application scenarios at the campus. Extensive experimental results demonstrate that our algorithm achieves the performance of mainstream localization algorithms.
Related Topics
Concepts
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/rs15051190
- https://www.mdpi.com/2072-4292/15/5/1190/pdf?version=1677477340
- OA Status
- gold
- Cited By
- 2
- References
- 43
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4321498317
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4321498317Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/rs15051190Digital Object Identifier
- Title
-
A Localization Algorithm Based on Global Descriptor and Dynamic Range SearchWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-02-21Full publication date if available
- Authors
-
Yongzhe Chen, Gang Wang, Wei Zhou, Tongzhou Zhang, Hao ZhangList of authors in order
- Landing page
-
https://doi.org/10.3390/rs15051190Publisher landing page
- PDF URL
-
https://www.mdpi.com/2072-4292/15/5/1190/pdf?version=1677477340Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/2072-4292/15/5/1190/pdf?version=1677477340Direct OA link when available
- Concepts
-
Computer science, A priori and a posteriori, Artificial intelligence, Computer vision, Position (finance), Invariant (physics), Leverage (statistics), Algorithm, Rotation (mathematics), Mathematics, Epistemology, Philosophy, Economics, Mathematical physics, FinanceTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
-
2024: 1, 2023: 1Per-year citation counts (last 5 years)
- References (count)
-
43Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W4321498317 |
|---|---|
| doi | https://doi.org/10.3390/rs15051190 |
| ids.doi | https://doi.org/10.3390/rs15051190 |
| ids.openalex | https://openalex.org/W4321498317 |
| fwci | 1.03990054 |
| type | article |
| title | A Localization Algorithm Based on Global Descriptor and Dynamic Range Search |
| awards[0].id | https://openalex.org/G202915362 |
| awards[0].funder_id | https://openalex.org/F4320335953 |
| awards[0].display_name | |
| awards[0].funder_award_id | 20210401145YY |
| awards[0].funder_display_name | Jilin Scientific and Technological Development Program |
| biblio.issue | 5 |
| biblio.volume | 15 |
| biblio.last_page | 1190 |
| biblio.first_page | 1190 |
| topics[0].id | https://openalex.org/T10191 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 0.9998999834060669 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2202 |
| topics[0].subfield.display_name | Aerospace Engineering |
| topics[0].display_name | Robotics and Sensor-Based Localization |
| topics[1].id | https://openalex.org/T10627 |
| topics[1].field.id | https://openalex.org/fields/17 |
| topics[1].field.display_name | Computer Science |
| topics[1].score | 0.9976999759674072 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/1707 |
| topics[1].subfield.display_name | Computer Vision and Pattern Recognition |
| topics[1].display_name | Advanced Image and Video Retrieval Techniques |
| topics[2].id | https://openalex.org/T10586 |
| topics[2].field.id | https://openalex.org/fields/17 |
| topics[2].field.display_name | Computer Science |
| topics[2].score | 0.9975000023841858 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/1707 |
| topics[2].subfield.display_name | Computer Vision and Pattern Recognition |
| topics[2].display_name | Robotic Path Planning Algorithms |
| funders[0].id | https://openalex.org/F4320335953 |
| funders[0].ror | |
| funders[0].display_name | Jilin Scientific and Technological Development Program |
| is_xpac | False |
| apc_list.value | 2500 |
| apc_list.currency | CHF |
| apc_list.value_usd | 2707 |
| apc_paid.value | 2500 |
| apc_paid.currency | CHF |
| apc_paid.value_usd | 2707 |
| concepts[0].id | https://openalex.org/C41008148 |
| concepts[0].level | 0 |
| concepts[0].score | 0.6708831191062927 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[0].display_name | Computer science |
| concepts[1].id | https://openalex.org/C75553542 |
| concepts[1].level | 2 |
| concepts[1].score | 0.6287981271743774 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q178161 |
| concepts[1].display_name | A priori and a posteriori |
| concepts[2].id | https://openalex.org/C154945302 |
| concepts[2].level | 1 |
| concepts[2].score | 0.605459451675415 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[2].display_name | Artificial intelligence |
| concepts[3].id | https://openalex.org/C31972630 |
| concepts[3].level | 1 |
| concepts[3].score | 0.5680080056190491 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q844240 |
| concepts[3].display_name | Computer vision |
| concepts[4].id | https://openalex.org/C198082294 |
| concepts[4].level | 2 |
| concepts[4].score | 0.5654841065406799 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q3399648 |
| concepts[4].display_name | Position (finance) |
| concepts[5].id | https://openalex.org/C190470478 |
| concepts[5].level | 2 |
| concepts[5].score | 0.4913312494754791 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q2370229 |
| concepts[5].display_name | Invariant (physics) |
| concepts[6].id | https://openalex.org/C153083717 |
| concepts[6].level | 2 |
| concepts[6].score | 0.4890383183956146 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q6535263 |
| concepts[6].display_name | Leverage (statistics) |
| concepts[7].id | https://openalex.org/C11413529 |
| concepts[7].level | 1 |
| concepts[7].score | 0.43051135540008545 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q8366 |
| concepts[7].display_name | Algorithm |
| concepts[8].id | https://openalex.org/C74050887 |
| concepts[8].level | 2 |
| concepts[8].score | 0.4262087345123291 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q848368 |
| concepts[8].display_name | Rotation (mathematics) |
| concepts[9].id | https://openalex.org/C33923547 |
| concepts[9].level | 0 |
| concepts[9].score | 0.24918612837791443 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q395 |
| concepts[9].display_name | Mathematics |
| concepts[10].id | https://openalex.org/C111472728 |
| concepts[10].level | 1 |
| concepts[10].score | 0.0 |
| concepts[10].wikidata | https://www.wikidata.org/wiki/Q9471 |
| concepts[10].display_name | Epistemology |
| concepts[11].id | https://openalex.org/C138885662 |
| concepts[11].level | 0 |
| concepts[11].score | 0.0 |
| concepts[11].wikidata | https://www.wikidata.org/wiki/Q5891 |
| concepts[11].display_name | Philosophy |
| concepts[12].id | https://openalex.org/C162324750 |
| concepts[12].level | 0 |
| concepts[12].score | 0.0 |
| concepts[12].wikidata | https://www.wikidata.org/wiki/Q8134 |
| concepts[12].display_name | Economics |
| concepts[13].id | https://openalex.org/C37914503 |
| concepts[13].level | 1 |
| concepts[13].score | 0.0 |
| concepts[13].wikidata | https://www.wikidata.org/wiki/Q156495 |
| concepts[13].display_name | Mathematical physics |
| concepts[14].id | https://openalex.org/C10138342 |
| concepts[14].level | 1 |
| concepts[14].score | 0.0 |
| concepts[14].wikidata | https://www.wikidata.org/wiki/Q43015 |
| concepts[14].display_name | Finance |
| keywords[0].id | https://openalex.org/keywords/computer-science |
| keywords[0].score | 0.6708831191062927 |
| keywords[0].display_name | Computer science |
| keywords[1].id | https://openalex.org/keywords/a-priori-and-a-posteriori |
| keywords[1].score | 0.6287981271743774 |
| keywords[1].display_name | A priori and a posteriori |
| keywords[2].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[2].score | 0.605459451675415 |
| keywords[2].display_name | Artificial intelligence |
| keywords[3].id | https://openalex.org/keywords/computer-vision |
| keywords[3].score | 0.5680080056190491 |
| keywords[3].display_name | Computer vision |
| keywords[4].id | https://openalex.org/keywords/position |
| keywords[4].score | 0.5654841065406799 |
| keywords[4].display_name | Position (finance) |
| keywords[5].id | https://openalex.org/keywords/invariant |
| keywords[5].score | 0.4913312494754791 |
| keywords[5].display_name | Invariant (physics) |
| keywords[6].id | https://openalex.org/keywords/leverage |
| keywords[6].score | 0.4890383183956146 |
| keywords[6].display_name | Leverage (statistics) |
| keywords[7].id | https://openalex.org/keywords/algorithm |
| keywords[7].score | 0.43051135540008545 |
| keywords[7].display_name | Algorithm |
| keywords[8].id | https://openalex.org/keywords/rotation |
| keywords[8].score | 0.4262087345123291 |
| keywords[8].display_name | Rotation (mathematics) |
| keywords[9].id | https://openalex.org/keywords/mathematics |
| keywords[9].score | 0.24918612837791443 |
| keywords[9].display_name | Mathematics |
| language | en |
| locations[0].id | doi:10.3390/rs15051190 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S43295729 |
| locations[0].source.issn | 2072-4292 |
| locations[0].source.type | journal |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | 2072-4292 |
| locations[0].source.is_core | True |
| locations[0].source.is_in_doaj | True |
| locations[0].source.display_name | Remote Sensing |
| locations[0].source.host_organization | https://openalex.org/P4310310987 |
| locations[0].source.host_organization_name | Multidisciplinary Digital Publishing Institute |
| locations[0].source.host_organization_lineage | https://openalex.org/P4310310987 |
| locations[0].source.host_organization_lineage_names | Multidisciplinary Digital Publishing Institute |
| locations[0].license | cc-by |
| locations[0].pdf_url | https://www.mdpi.com/2072-4292/15/5/1190/pdf?version=1677477340 |
| locations[0].version | publishedVersion |
| locations[0].raw_type | journal-article |
| locations[0].license_id | https://openalex.org/licenses/cc-by |
| locations[0].is_accepted | True |
| locations[0].is_published | True |
| locations[0].raw_source_name | Remote Sensing |
| locations[0].landing_page_url | https://doi.org/10.3390/rs15051190 |
| locations[1].id | pmh:oai:doaj.org/article:474571f611754006a69f9da97556349d |
| locations[1].is_oa | False |
| locations[1].source.id | https://openalex.org/S4306401280 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | False |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | DOAJ (DOAJ: Directory of Open Access Journals) |
| locations[1].source.host_organization | |
| locations[1].source.host_organization_name | |
| locations[1].license | |
| locations[1].pdf_url | |
| locations[1].version | submittedVersion |
| locations[1].raw_type | article |
| locations[1].license_id | |
| locations[1].is_accepted | False |
| locations[1].is_published | False |
| locations[1].raw_source_name | Remote Sensing, Vol 15, Iss 5, p 1190 (2023) |
| locations[1].landing_page_url | https://doaj.org/article/474571f611754006a69f9da97556349d |
| locations[2].id | pmh:oai:mdpi.com:/2072-4292/15/5/1190/ |
| locations[2].is_oa | True |
| locations[2].source.id | https://openalex.org/S4306400947 |
| locations[2].source.issn | |
| locations[2].source.type | repository |
| locations[2].source.is_oa | True |
| locations[2].source.issn_l | |
| locations[2].source.is_core | False |
| locations[2].source.is_in_doaj | False |
| locations[2].source.display_name | MDPI (MDPI AG) |
| locations[2].source.host_organization | https://openalex.org/I4210097602 |
| locations[2].source.host_organization_name | Multidisciplinary Digital Publishing Institute (Switzerland) |
| locations[2].source.host_organization_lineage | https://openalex.org/I4210097602 |
| locations[2].license | cc-by |
| locations[2].pdf_url | |
| locations[2].version | submittedVersion |
| locations[2].raw_type | Text |
| locations[2].license_id | https://openalex.org/licenses/cc-by |
| locations[2].is_accepted | False |
| locations[2].is_published | False |
| locations[2].raw_source_name | Remote Sensing |
| locations[2].landing_page_url | https://dx.doi.org/10.3390/rs15051190 |
| indexed_in | crossref, doaj |
| authorships[0].author.id | https://openalex.org/A5047078623 |
| authorships[0].author.orcid | https://orcid.org/0000-0002-4319-7857 |
| authorships[0].author.display_name | Yongzhe Chen |
| authorships[0].countries | CN |
| authorships[0].affiliations[0].institution_ids | https://openalex.org/I194450716 |
| authorships[0].affiliations[0].raw_affiliation_string | College of Computer Science and Technology, Jilin University, Changchun 130012, China |
| authorships[0].institutions[0].id | https://openalex.org/I194450716 |
| authorships[0].institutions[0].ror | https://ror.org/00js3aw79 |
| authorships[0].institutions[0].type | education |
| authorships[0].institutions[0].lineage | https://openalex.org/I194450716 |
| authorships[0].institutions[0].country_code | CN |
| authorships[0].institutions[0].display_name | Jilin University |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Yongzhe Chen |
| authorships[0].is_corresponding | False |
| authorships[0].raw_affiliation_strings | College of Computer Science and Technology, Jilin University, Changchun 130012, China |
| authorships[1].author.id | https://openalex.org/A5100367334 |
| authorships[1].author.orcid | https://orcid.org/0000-0001-9696-3546 |
| authorships[1].author.display_name | Gang Wang |
| authorships[1].countries | CN |
| authorships[1].affiliations[0].institution_ids | https://openalex.org/I194450716, https://openalex.org/I4392738231 |
| authorships[1].affiliations[0].raw_affiliation_string | State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130012, China |
| authorships[1].affiliations[1].institution_ids | https://openalex.org/I194450716 |
| authorships[1].affiliations[1].raw_affiliation_string | College of Computer Science and Technology, Jilin University, Changchun 130012, China |
| authorships[1].affiliations[2].institution_ids | https://openalex.org/I194450716 |
| authorships[1].affiliations[2].raw_affiliation_string | Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, Changchun 130012, China |
| authorships[1].institutions[0].id | https://openalex.org/I4392738231 |
| authorships[1].institutions[0].ror | https://ror.org/00b67z867 |
| authorships[1].institutions[0].type | facility |
| authorships[1].institutions[0].lineage | https://openalex.org/I194450716, https://openalex.org/I4392738231 |
| authorships[1].institutions[0].country_code | |
| authorships[1].institutions[0].display_name | State Key Laboratory of Automotive Simulation and Control |
| authorships[1].institutions[1].id | https://openalex.org/I194450716 |
| authorships[1].institutions[1].ror | https://ror.org/00js3aw79 |
| authorships[1].institutions[1].type | education |
| authorships[1].institutions[1].lineage | https://openalex.org/I194450716 |
| authorships[1].institutions[1].country_code | CN |
| authorships[1].institutions[1].display_name | Jilin University |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Gang Wang |
| authorships[1].is_corresponding | True |
| authorships[1].raw_affiliation_strings | College of Computer Science and Technology, Jilin University, Changchun 130012, China, Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, Changchun 130012, China, State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130012, China |
| authorships[2].author.id | https://openalex.org/A5114804421 |
| authorships[2].author.orcid | https://orcid.org/0009-0003-4456-9741 |
| authorships[2].author.display_name | Wei Zhou |
| authorships[2].countries | CN |
| authorships[2].affiliations[0].institution_ids | https://openalex.org/I194450716 |
| authorships[2].affiliations[0].raw_affiliation_string | College of Computer Science and Technology, Jilin University, Changchun 130012, China |
| authorships[2].institutions[0].id | https://openalex.org/I194450716 |
| authorships[2].institutions[0].ror | https://ror.org/00js3aw79 |
| authorships[2].institutions[0].type | education |
| authorships[2].institutions[0].lineage | https://openalex.org/I194450716 |
| authorships[2].institutions[0].country_code | CN |
| authorships[2].institutions[0].display_name | Jilin University |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Wei Zhou |
| authorships[2].is_corresponding | False |
| authorships[2].raw_affiliation_strings | College of Computer Science and Technology, Jilin University, Changchun 130012, China |
| authorships[3].author.id | https://openalex.org/A5083249639 |
| authorships[3].author.orcid | https://orcid.org/0009-0004-5614-1889 |
| authorships[3].author.display_name | Tongzhou Zhang |
| authorships[3].countries | CN |
| authorships[3].affiliations[0].institution_ids | https://openalex.org/I194450716 |
| authorships[3].affiliations[0].raw_affiliation_string | College of Computer Science and Technology, Jilin University, Changchun 130012, China |
| authorships[3].institutions[0].id | https://openalex.org/I194450716 |
| authorships[3].institutions[0].ror | https://ror.org/00js3aw79 |
| authorships[3].institutions[0].type | education |
| authorships[3].institutions[0].lineage | https://openalex.org/I194450716 |
| authorships[3].institutions[0].country_code | CN |
| authorships[3].institutions[0].display_name | Jilin University |
| authorships[3].author_position | middle |
| authorships[3].raw_author_name | Tongzhou Zhang |
| authorships[3].is_corresponding | False |
| authorships[3].raw_affiliation_strings | College of Computer Science and Technology, Jilin University, Changchun 130012, China |
| authorships[4].author.id | https://openalex.org/A5100396872 |
| authorships[4].author.orcid | https://orcid.org/0000-0002-2058-7123 |
| authorships[4].author.display_name | Hao Zhang |
| authorships[4].countries | CN |
| authorships[4].affiliations[0].institution_ids | https://openalex.org/I194450716 |
| authorships[4].affiliations[0].raw_affiliation_string | College of Computer Science and Technology, Jilin University, Changchun 130012, China |
| authorships[4].institutions[0].id | https://openalex.org/I194450716 |
| authorships[4].institutions[0].ror | https://ror.org/00js3aw79 |
| authorships[4].institutions[0].type | education |
| authorships[4].institutions[0].lineage | https://openalex.org/I194450716 |
| authorships[4].institutions[0].country_code | CN |
| authorships[4].institutions[0].display_name | Jilin University |
| authorships[4].author_position | last |
| authorships[4].raw_author_name | Hao Zhang |
| authorships[4].is_corresponding | False |
| authorships[4].raw_affiliation_strings | College of Computer Science and Technology, Jilin University, Changchun 130012, China |
| has_content.pdf | True |
| has_content.grobid_xml | True |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://www.mdpi.com/2072-4292/15/5/1190/pdf?version=1677477340 |
| open_access.oa_status | gold |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | A Localization Algorithm Based on Global Descriptor and Dynamic Range Search |
| has_fulltext | True |
| is_retracted | False |
| updated_date | 2025-11-06T03:46:38.306776 |
| primary_topic.id | https://openalex.org/T10191 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 0.9998999834060669 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2202 |
| primary_topic.subfield.display_name | Aerospace Engineering |
| primary_topic.display_name | Robotics and Sensor-Based Localization |
| related_works | https://openalex.org/W4388311650, https://openalex.org/W5922282, https://openalex.org/W1974056099, https://openalex.org/W4245343541, https://openalex.org/W2386077341, https://openalex.org/W563589758, https://openalex.org/W62490179, https://openalex.org/W2954004777, https://openalex.org/W2951102138, https://openalex.org/W1568403290 |
| cited_by_count | 2 |
| counts_by_year[0].year | 2024 |
| counts_by_year[0].cited_by_count | 1 |
| counts_by_year[1].year | 2023 |
| counts_by_year[1].cited_by_count | 1 |
| locations_count | 3 |
| best_oa_location.id | doi:10.3390/rs15051190 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S43295729 |
| best_oa_location.source.issn | 2072-4292 |
| best_oa_location.source.type | journal |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | 2072-4292 |
| best_oa_location.source.is_core | True |
| best_oa_location.source.is_in_doaj | True |
| best_oa_location.source.display_name | Remote Sensing |
| best_oa_location.source.host_organization | https://openalex.org/P4310310987 |
| best_oa_location.source.host_organization_name | Multidisciplinary Digital Publishing Institute |
| best_oa_location.source.host_organization_lineage | https://openalex.org/P4310310987 |
| best_oa_location.source.host_organization_lineage_names | Multidisciplinary Digital Publishing Institute |
| best_oa_location.license | cc-by |
| best_oa_location.pdf_url | https://www.mdpi.com/2072-4292/15/5/1190/pdf?version=1677477340 |
| best_oa_location.version | publishedVersion |
| best_oa_location.raw_type | journal-article |
| best_oa_location.license_id | https://openalex.org/licenses/cc-by |
| best_oa_location.is_accepted | True |
| best_oa_location.is_published | True |
| best_oa_location.raw_source_name | Remote Sensing |
| best_oa_location.landing_page_url | https://doi.org/10.3390/rs15051190 |
| primary_location.id | doi:10.3390/rs15051190 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S43295729 |
| primary_location.source.issn | 2072-4292 |
| primary_location.source.type | journal |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | 2072-4292 |
| primary_location.source.is_core | True |
| primary_location.source.is_in_doaj | True |
| primary_location.source.display_name | Remote Sensing |
| primary_location.source.host_organization | https://openalex.org/P4310310987 |
| primary_location.source.host_organization_name | Multidisciplinary Digital Publishing Institute |
| primary_location.source.host_organization_lineage | https://openalex.org/P4310310987 |
| primary_location.source.host_organization_lineage_names | Multidisciplinary Digital Publishing Institute |
| primary_location.license | cc-by |
| primary_location.pdf_url | https://www.mdpi.com/2072-4292/15/5/1190/pdf?version=1677477340 |
| primary_location.version | publishedVersion |
| primary_location.raw_type | journal-article |
| primary_location.license_id | https://openalex.org/licenses/cc-by |
| primary_location.is_accepted | True |
| primary_location.is_published | True |
| primary_location.raw_source_name | Remote Sensing |
| primary_location.landing_page_url | https://doi.org/10.3390/rs15051190 |
| publication_date | 2023-02-21 |
| publication_year | 2023 |
| referenced_works | https://openalex.org/W3010372490, https://openalex.org/W2062302853, https://openalex.org/W4309787584, https://openalex.org/W4206399727, https://openalex.org/W2754055906, https://openalex.org/W3043792637, https://openalex.org/W4313327997, https://openalex.org/W2892028890, https://openalex.org/W2910489334, https://openalex.org/W2160643963, https://openalex.org/W1968315983, https://openalex.org/W2150066425, https://openalex.org/W2131846894, https://openalex.org/W1989484209, https://openalex.org/W1491719799, https://openalex.org/W1612997784, https://openalex.org/W1991544872, https://openalex.org/W3089353397, https://openalex.org/W2411093439, https://openalex.org/W2940793188, https://openalex.org/W2160821342, https://openalex.org/W2105977269, https://openalex.org/W3011465262, https://openalex.org/W2565998037, https://openalex.org/W3206411252, https://openalex.org/W3161775899, https://openalex.org/W2798278946, https://openalex.org/W2213518912, https://openalex.org/W2131821152, https://openalex.org/W2964307318, https://openalex.org/W2054969198, https://openalex.org/W2889532859, https://openalex.org/W2910925829, https://openalex.org/W2770866044, https://openalex.org/W2332797954, https://openalex.org/W3090923812, https://openalex.org/W2296228853, https://openalex.org/W3129245057, https://openalex.org/W3109154950, https://openalex.org/W2965803762, https://openalex.org/W1601400343, https://openalex.org/W3100687815, https://openalex.org/W3103406720 |
| referenced_works_count | 43 |
| abstract_inverted_index.a | 87, 105, 133, 177, 199, 222, 229 |
| abstract_inverted_index.HD | 230 |
| abstract_inverted_index.In | 51, 82, 100 |
| abstract_inverted_index.It | 146, 203 |
| abstract_inverted_index.an | 6, 152 |
| abstract_inverted_index.at | 265 |
| abstract_inverted_index.be | 56 |
| abstract_inverted_index.by | 22, 122 |
| abstract_inverted_index.is | 4, 20, 45, 217 |
| abstract_inverted_index.it | 26, 54 |
| abstract_inverted_index.of | 33, 63, 125, 156, 278 |
| abstract_inverted_index.on | 47, 91, 255 |
| abstract_inverted_index.or | 44 |
| abstract_inverted_index.to | 9, 58, 79, 150, 175, 196, 211, 233, 251 |
| abstract_inverted_index.we | 85, 102, 131, 189, 220, 243 |
| abstract_inverted_index.SRI | 149, 169, 174 |
| abstract_inverted_index.The | 0 |
| abstract_inverted_index.and | 74, 95, 109, 119, 128, 139, 160, 170, 228, 238, 248, 260 |
| abstract_inverted_index.for | 137, 198 |
| abstract_inverted_index.map | 19, 42, 76, 172, 231 |
| abstract_inverted_index.not | 46 |
| abstract_inverted_index.our | 253, 273 |
| abstract_inverted_index.the | 10, 13, 18, 23, 30, 34, 41, 48, 61, 64, 68, 71, 75, 92, 116, 123, 157, 163, 166, 171, 182, 186, 191, 205, 214, 256, 261, 266, 276 |
| abstract_inverted_index.via | 67 |
| abstract_inverted_index.both | 52 |
| abstract_inverted_index.fail | 212 |
| abstract_inverted_index.lies | 39 |
| abstract_inverted_index.more | 200 |
| abstract_inverted_index.pose | 62 |
| abstract_inverted_index.real | 262 |
| abstract_inverted_index.scan | 143 |
| abstract_inverted_index.that | 29, 207, 272 |
| abstract_inverted_index.then | 161 |
| abstract_inverted_index.this | 83 |
| abstract_inverted_index.when | 213 |
| abstract_inverted_index.will | 55 |
| abstract_inverted_index.(UGV) | 38 |
| abstract_inverted_index.based | 90 |
| abstract_inverted_index.first | 103, 147 |
| abstract_inverted_index.frame | 73, 168 |
| abstract_inverted_index.graph | 226 |
| abstract_inverted_index.image | 112 |
| abstract_inverted_index.model | 227 |
| abstract_inverted_index.pose. | 202 |
| abstract_inverted_index.range | 97, 180 |
| abstract_inverted_index.shift | 108, 120, 138 |
| abstract_inverted_index.since | 17 |
| abstract_inverted_index.tends | 210 |
| abstract_inverted_index.under | 12 |
| abstract_inverted_index.which | 114 |
| abstract_inverted_index.(SRI), | 113 |
| abstract_inverted_index.Within | 185 |
| abstract_inverted_index.around | 181 |
| abstract_inverted_index.cases, | 53 |
| abstract_inverted_index.design | 104, 132 |
| abstract_inverted_index.engine | 232 |
| abstract_inverted_index.factor | 225 |
| abstract_inverted_index.global | 93, 106, 134, 208 |
| abstract_inverted_index.ground | 36 |
| abstract_inverted_index.method | 3 |
| abstract_inverted_index.obtain | 151 |
| abstract_inverted_index.priori | 154, 183, 215 |
| abstract_inverted_index.range, | 188 |
| abstract_inverted_index.search | 98, 179, 187, 197 |
| abstract_inverted_index.select | 176 |
| abstract_inverted_index.solves | 204 |
| abstract_inverted_index.(KITTI) | 259 |
| abstract_inverted_index.achieve | 234 |
| abstract_inverted_index.between | 40, 70, 165 |
| abstract_inverted_index.campus. | 267 |
| abstract_inverted_index.coupled | 224 |
| abstract_inverted_index.current | 72, 167 |
| abstract_inverted_index.dataset | 258 |
| abstract_inverted_index.dynamic | 96, 178 |
| abstract_inverted_index.happens | 28 |
| abstract_inverted_index.initial | 31 |
| abstract_inverted_index.leading | 78 |
| abstract_inverted_index.mapping | 49 |
| abstract_inverted_index.methods | 124, 254 |
| abstract_inverted_index.precise | 201 |
| abstract_inverted_index.problem | 206 |
| abstract_inverted_index.propose | 86 |
| abstract_inverted_index.regard, | 84 |
| abstract_inverted_index.removal | 127 |
| abstract_inverted_index.results | 270 |
| abstract_inverted_index.tightly | 223 |
| abstract_inverted_index.vehicle | 37, 65, 159 |
| abstract_inverted_index.Finally, | 242 |
| abstract_inverted_index.However, | 16 |
| abstract_inverted_index.ablation | 246 |
| abstract_inverted_index.achieves | 275 |
| abstract_inverted_index.complete | 244 |
| abstract_inverted_index.directly | 66 |
| abstract_inverted_index.estimate | 60 |
| abstract_inverted_index.failure. | 81 |
| abstract_inverted_index.improves | 115 |
| abstract_inverted_index.leverage | 190 |
| abstract_inverted_index.matching | 144, 194 |
| abstract_inverted_index.position | 32, 155, 216, 236 |
| abstract_inverted_index.rotation | 110, 117, 140 |
| abstract_inverted_index.scanning | 193 |
| abstract_inverted_index.tracking | 237 |
| abstract_inverted_index.unmanned | 35, 158 |
| abstract_inverted_index.utilizes | 162 |
| abstract_inverted_index.validate | 252 |
| abstract_inverted_index.Extensive | 268 |
| abstract_inverted_index.Moreover, | 219 |
| abstract_inverted_index.Secondly, | 130 |
| abstract_inverted_index.algorithm | 89, 136, 195, 274 |
| abstract_inverted_index.benchmark | 257 |
| abstract_inverted_index.dispersed | 24 |
| abstract_inverted_index.effective | 7 |
| abstract_inverted_index.extensive | 245 |
| abstract_inverted_index.introduce | 221 |
| abstract_inverted_index.invariant | 111, 141 |
| abstract_inverted_index.keyframes | 43, 173 |
| abstract_inverted_index.leverages | 148 |
| abstract_inverted_index.map-based | 1 |
| abstract_inverted_index.position. | 184 |
| abstract_inverted_index.precisely | 59 |
| abstract_inverted_index.real-time | 235 |
| abstract_inverted_index.scenarios | 264 |
| abstract_inverted_index.sometimes | 27 |
| abstract_inverted_index.specific, | 101 |
| abstract_inverted_index.(SRI-BBS). | 145 |
| abstract_inverted_index.considered | 5 |
| abstract_inverted_index.descriptor | 94, 107 |
| abstract_inverted_index.impossible | 57 |
| abstract_inverted_index.imprecise. | 218 |
| abstract_inverted_index.invariance | 118, 121 |
| abstract_inverted_index.keyframes, | 25, 77 |
| abstract_inverted_index.lane-level | 239 |
| abstract_inverted_index.mainstream | 279 |
| abstract_inverted_index.similarity | 164 |
| abstract_inverted_index.supplement | 8 |
| abstract_inverted_index.GNSS-denied | 14 |
| abstract_inverted_index.algorithms. | 281 |
| abstract_inverted_index.application | 263 |
| abstract_inverted_index.approximate | 153 |
| abstract_inverted_index.comparative | 249 |
| abstract_inverted_index.constituted | 21 |
| abstract_inverted_index.coordinates | 126 |
| abstract_inverted_index.demonstrate | 271 |
| abstract_inverted_index.experiments | 247, 250 |
| abstract_inverted_index.performance | 277 |
| abstract_inverted_index.trajectory. | 50 |
| abstract_inverted_index.(LA-GDADRS). | 99 |
| abstract_inverted_index.environment. | 15 |
| abstract_inverted_index.experimental | 269 |
| abstract_inverted_index.localization | 2, 11, 80, 88, 135, 209, 280 |
| abstract_inverted_index.relationship | 69 |
| abstract_inverted_index.localization, | 240 |
| abstract_inverted_index.respectively. | 241 |
| abstract_inverted_index.branch-and-bound | 142, 192 |
| abstract_inverted_index.de-centralization. | 129 |
| cited_by_percentile_year.max | 94 |
| cited_by_percentile_year.min | 89 |
| corresponding_author_ids | https://openalex.org/A5100367334 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 5 |
| corresponding_institution_ids | https://openalex.org/I194450716, https://openalex.org/I4392738231 |
| citation_normalized_percentile.value | 0.80603724 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |