{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T22:40:37Z","timestamp":1772577637344,"version":"3.50.1"},"reference-count":34,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100020487","name":"Nature","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100020487","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004731","name":"Natural Science Foundation of Zhejiang Province","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004731","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,9,27]]},"DOI":"10.1109\/iros51168.2021.9635839","type":"proceedings-article","created":{"date-parts":[[2021,12,16]],"date-time":"2021-12-16T20:45:38Z","timestamp":1639687538000},"page":"2084-2091","source":"Crossref","is-referenced-by-count":30,"title":["CORAL: Colored structural representation for bi-modal place recognition"],"prefix":"10.1109","author":[{"given":"Yiyuan","family":"Pan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuecheng","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Weijie","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yunxiang","family":"Cui","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yue","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rong","family":"Xiong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01272"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500682"},{"key":"ref31","article-title":"DiSCO: Differentiable Scan Context with Orientation","author":"xu","year":"2020"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.3390\/s20102870"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00472"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2010.5540039"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2897340"},{"key":"ref12","first-page":"641","article-title":"Deep continuous fusion for multi-sensor 3d object detection","author":"liang","year":"2018","journal-title":"Proceedings of the European Conference on Computer Vision (ECCV)"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00292"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916679498"},{"key":"ref16","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"ORB-SLAM: a versatile and accurate monocular SLAM system","volume":"31","author":"mur-artal","year":"2015","journal-title":"IEEE Transactions on Robotics"},{"key":"ref17","doi-asserted-by":"crossref","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","article-title":"Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras","volume":"33","author":"mur-artal","year":"2017","journal-title":"IEEE Transactions on Robotics"},{"key":"ref18","first-page":"3456","article-title":"Large-scale image retrieval with attentive deep local features","author":"noh","year":"2017","journal-title":"Proceedings of the IEEE International Conference on Computer Vision"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3009077"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196518"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.145"},{"key":"ref27","article-title":"Very deep convolutional networks for large-scale image recognition","author":"simonyan","year":"2014"},{"key":"ref3","doi-asserted-by":"crossref","first-page":"346","DOI":"10.1016\/j.cviu.2007.09.014","article-title":"Speeded-up robust features (SURF)","volume":"110","author":"bay","year":"2008","journal-title":"Computer Vision and Image Understanding"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2197158"},{"key":"ref29","first-page":"1","article-title":"Fusing bird&#x2019;s eye view lidar point cloud and front view camera image for 3d object detection","author":"wang","year":"2018","journal-title":"2018 IEEE Intelligent Vehicles Symposium (IV)"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2015.7251485"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.90"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"3354","DOI":"10.1109\/CVPR.2012.6248074","article-title":"Are we ready for autonomous driving? the kitti vision benchmark suite","author":"geiger","year":"2012","journal-title":"2012 IEEE Conference on Computer Vision and Pattern Recognition"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.572"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.235"},{"key":"ref1","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":"ref20","article-title":"GEM: online globally consistent dense elevation mapping for unstructured terrain","author":"pan","year":"2020","journal-title":"IEEE Transactions on Instrumentation and Measurement"},{"key":"ref22","first-page":"652","article-title":"Pointnet: Deep learning on point sets for 3d classification and segmentation","author":"qi","year":"2017","journal-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO49542.2019.8961816"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2018.2846566"},{"key":"ref23","first-page":"5648","article-title":"Volumetric and multi-view cnns for object classification on 3d data","author":"qi","year":"2016","journal-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition"},{"key":"ref26","doi-asserted-by":"crossref","first-page":"251","DOI":"10.1016\/j.cviu.2014.04.011","article-title":"SHOT: Unique signatures of histograms for surface and texture description","volume":"125","author":"salti","year":"2014","journal-title":"Computer Vision and Image Understanding"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650967"}],"event":{"name":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Prague, Czech Republic","start":{"date-parts":[[2021,9,27]]},"end":{"date-parts":[[2021,10,1]]}},"container-title":["2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9635848\/9635849\/09635839.pdf?arnumber=9635839","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T16:54:53Z","timestamp":1652201693000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9635839\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,27]]},"references-count":34,"URL":"https:\/\/doi.org\/10.1109\/iros51168.2021.9635839","relation":{},"subject":[],"published":{"date-parts":[[2021,9,27]]}}}