{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T04:40:36Z","timestamp":1772772036166,"version":"3.50.1"},"reference-count":28,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100000288","name":"Royal Society","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000288","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9560932","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"5654-5660","source":"Crossref","is-referenced-by-count":106,"title":["NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation"],"prefix":"10.1109","author":[{"given":"Zhicheng","family":"Zhou","sequence":"first","affiliation":[]},{"given":"Cheng","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Daniel","family":"Adolfsson","sequence":"additional","affiliation":[]},{"given":"Songzhi","family":"Su","sequence":"additional","affiliation":[]},{"given":"Yang","family":"Gao","sequence":"additional","affiliation":[]},{"given":"Tom","family":"Duckett","sequence":"additional","affiliation":[]},{"given":"Li","family":"Sun","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593953"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460940"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2897340"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2020.XVI.009"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.572"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00292"},{"key":"ref16","first-page":"4470","article-title":"Pointnetvlad: Deep point cloud based retrieval for large-scale place recognition","author":"angelina uy","year":"2018","journal-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition"},{"key":"ref17","first-page":"4","article-title":"PointNet: Deep learning on point sets for 3d classification and segmentation","volume":"1","author":"qi","year":"2017","journal-title":"Proc IEEE Conf Computer Vision and Pattern Recognition"},{"key":"ref18","first-page":"1","article-title":"Dynamic graph cnn for learning on point clouds","volume":"38","author":"wang","year":"2019","journal-title":"ACM Transactions on Graphics (TOG)"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249285"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916679498"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989618"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353812"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196568"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2895264"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.003"},{"key":"ref8","first-page":"5998","article-title":"Attention is all you need","author":"vaswani","year":"2017","journal-title":"Advances in neural information processing systems"},{"key":"ref7","doi-asserted-by":"crossref","DOI":"10.1109\/IROS45743.2020.9341060","article-title":"Semantic graph based place recognition for 3d point clouds","author":"kong","year":"2020"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196708"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759060"},{"key":"ref1","article-title":"Pointloc: Deep pose regressor for lidar point cloud localization","author":"wang","year":"2020"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697033"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696380"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20204"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20314"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR.2019.8870941"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202216"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968140"}],"event":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","location":"Xi'an, China","start":{"date-parts":[[2021,5,30]]},"end":{"date-parts":[[2021,6,5]]}},"container-title":["2021 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9560720\/9560666\/09560932.pdf?arnumber=9560932","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,12]],"date-time":"2023-01-12T22:54:02Z","timestamp":1673564042000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9560932\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":28,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9560932","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}