{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,8]],"date-time":"2026-01-08T19:05:46Z","timestamp":1767899146572,"version":"3.49.0"},"reference-count":40,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2021,6,23]],"date-time":"2021-06-23T00:00:00Z","timestamp":1624406400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,3]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper proposes a map-based localization system for autonomous vehicle self-localization in urban environments, which is composed of a pose graph mapping method and 3D curvature feature points \u2013 Monte Carlo Localization algorithm (3DCF-MCL). The advantage of 3DCF-MCL is that it combines the high accuracy of the 3D feature points registration and the robustness of particle filter. Experimental results show that 3DCF-MCL can provide an accurate localization for autonomous vehicles with the 3D point cloud map that generated by our mapping method. Compared with other map-based localization algorithms, it demonstrates that 3DCF-MCL outperforms them.<\/jats:p>","DOI":"10.1017\/s0263574721000862","type":"journal-article","created":{"date-parts":[[2021,6,23]],"date-time":"2021-06-23T07:26:34Z","timestamp":1624433194000},"page":"817-833","source":"Crossref","is-referenced-by-count":10,"title":["Autonomous vehicle self-localization in urban environments based on 3D curvature feature points \u2013 Monte Carlo localization"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7485-6344","authenticated-orcid":false,"given":"Qi","family":"Liu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5709-6862","authenticated-orcid":false,"given":"Xiaoguang","family":"Di","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Binfeng","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,6,23]]},"reference":[{"key":"S0263574721000862_ref8","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000369"},{"key":"S0263574721000862_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509312"},{"key":"S0263574721000862_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2983149"},{"key":"S0263574721000862_ref36","volume-title":"Probabilistic Robotics","author":"Thrun","year":"2005"},{"key":"S0263574721000862_ref39","first-page":"5","article-title":"ROS: An Open-Source Robot Operating System","volume":"3","author":"Quigley","year":"2009","journal-title":"ICRA Workshop on Open Source Software"},{"key":"S0263574721000862_ref7","first-page":"287","volume-title":"ACM\/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS)","author":"Kato","year":"2018"},{"key":"S0263574721000862_ref23","volume-title":"Mobile Robot Localisation and Mapping in Extensive Outdoor Environments","author":"Bailey","year":"2002"},{"key":"S0263574721000862_ref17","doi-asserted-by":"crossref","unstructured":"[17] P. Biber and W. Stra\u00dfer, \u201cThe Normal Distributions Transform: A New Approach to Laser Scan Matching,\u201d Proceedings 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No. 03CH37453), vol. 3 (IEEE, 2003) pp. 2743\u20132748.","DOI":"10.1109\/IROS.2003.1249285"},{"key":"S0263574721000862_ref10","article-title":"A portable 3d lidar-based system for long-term and wide-area people behavior measurement.","volume":"16","author":"Koide","year":"2018","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"S0263574721000862_ref26","unstructured":"[26] Nelson, E. , BLAM. https:\/\/github.com\/erik-nelson\/blam (2016)."},{"key":"S0263574721000862_ref31","first-page":"1322","article-title":"Monte Carlo Localization for Mobile Robots","volume":"2","author":"Dellaert","year":"1999","journal-title":"ICRA"},{"key":"S0263574721000862_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152538"},{"key":"S0263574721000862_ref16","unstructured":"[16] ethz-asl. ethzasl_icp_mapping. https:\/\/github.com\/ethz-asl\/ethzasl_icp_mapping (2018)."},{"key":"S0263574721000862_ref30","unstructured":"[30] Karlsruhe Institute of Technology. kitti_odometry. http:\/\/www.cvlibs.net\/datasets\/kitti\/eval_odometry.php (2020)."},{"key":"S0263574721000862_ref12","first-page":"586","article-title":"\u201cMethod for Registration of 3-D Shapes,\u201d In:","volume":"1611","author":"Besl","year":"1992","journal-title":"Sensor Fusion IV: Control Paradigms and Data Structures"},{"key":"S0263574721000862_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989618"},{"key":"S0263574721000862_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2016.7784298"},{"key":"S0263574721000862_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353455"},{"key":"S0263574721000862_ref20","first-page":"9","article-title":"LOAN: Lidar Odometry and Mapping in Real-Time","volume":"2","author":"Zhang","year":"2014","journal-title":"Robotics: Science and Systems"},{"key":"S0263574721000862_ref1","first-page":"741","article-title":"GNSS multipath and jamming mitigation using high-mask-angle antennas and multiple constellations","volume":"16","author":"Heng","year":"2015","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"S0263574721000862_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2010.939925"},{"key":"S0263574721000862_ref13","first-page":"435","article-title":"Generalized-ICP","volume":"2","author":"Segal","year":"2009","journal-title":"Robotics: Science and Systems"},{"key":"S0263574721000862_ref29","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911430419"},{"key":"S0263574721000862_ref40","unstructured":"[40] Grupp, M. , evo: Python package for the evaluation of odometry and SLAM. https:\/\/github.com\/MichaelGrupp\/evo (2017)."},{"key":"S0263574721000862_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2011.5751245"},{"key":"S0263574721000862_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979949"},{"key":"S0263574721000862_ref34","doi-asserted-by":"publisher","DOI":"10.1017\/9781316671528"},{"key":"S0263574721000862_ref37","unstructured":"[37] Vieira, F. C. , Medeiros, A. A. D. , Alsina, P. and Ara\u00dajo, A. P. , \u201cPosition and Orientation Control of a Two-Wheeled Differentially Driven Nonholonomic Mobile robot,\u201d ICINCO (2004)."},{"key":"S0263574721000862_ref18","unstructured":"[18] Magnusson, M. , The Three-Dimensional Normal-Distributions Transform: An Efficient Representation for Registration, Surface Analysis, and Loop Detection Ph.D. Thesis (\u00d6rebro universitet, 2009)."},{"key":"S0263574721000862_ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2020.3019581"},{"key":"S0263574721000862_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.iatssr.2018.05.001"},{"key":"S0263574721000862_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.09.009"},{"key":"S0263574721000862_ref32","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719000298"},{"key":"S0263574721000862_ref21","unstructured":"[21] Moravec, H. and Elfes, A. , \u201cHigh Resolution Maps from Wide Angle Sonar,\u201d Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2 (IEEE, 1985) pp. 116\u2013121."},{"key":"S0263574721000862_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460653"},{"key":"S0263574721000862_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2624754"},{"key":"S0263574721000862_ref25","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9321-0"},{"key":"S0263574721000862_ref35","volume-title":"Multiple View Geometry in Computer Vision","author":"Hartley","year":"2003"},{"key":"S0263574721000862_ref38","unstructured":"[38] Berg, M. , Kreveld, M. , Overmars, M. and Schwarzkopf, O. C. , Computational geometry: Algorithms and applications (Springer Berlin\/Heidelberg, Berlin, Heidelberg, 2008)."},{"key":"S0263574721000862_ref24","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574713001070"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574721000862","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,2]],"date-time":"2024-09-02T12:17:44Z","timestamp":1725279464000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574721000862\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,6,23]]},"references-count":40,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2022,3]]}},"alternative-id":["S0263574721000862"],"URL":"https:\/\/doi.org\/10.1017\/s0263574721000862","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,6,23]]}}}