@ARTICLE{ma2025tripletloc,
  author={Weixin Ma and Huan Yin and Patricia J. Y. Wong and Danwei Wang and Yuxiang Sun and Zhongqing Su},
  journal={IEEE Robotics and Automation Letters}, 
  title={TripletLoc: One-Shot Global Localization Using Semantic Triplet in Urban Environments}, 
  year={2025},
  volume={10},
  number={2},
  pages={1569-1576},
  keywords={Location awareness;Semantics;Pose estimation;Roads;Point cloud compression;Three-dimensional displays;Robustness;Robots;Laser radar;Databases;Global localization;pose estimation;graph theory;semantic triplet;autonomous vehicles},
  doi={10.1109/LRA.2024.3523228}}