@ARTICLE{ma2024triplet,
  author={Weixin Ma and Shoudong Huang and Yuxiang Sun},
  journal={IEEE Robotics and Automation Letters}, 
  title={Triplet-Graph: Global Metric Localization Based on Semantic Triplet Graph for Autonomous Vehicles}, 
  year={2024},
  volume={9},
  number={4},
  pages={3155-3162},
  keywords={Point cloud compression;Semantics;Location awareness;Feature extraction;Pose estimation;Measurement;Laser radar;Autonomous vehicles;global metric localization;place recognition;pose estimation;semantic triplet graph},
  doi={10.1109/LRA.2024.3358752}}