# RING++: Roto-Translation Invariant Gram for Global Localization on a Sparse Scan Map

> Research article (IEEE Transactions on Robotics, 2023) · cited 72× · AI/ML

**Wikidata**: [openalex:W4385975620](https://www.wikidata.org/wiki/openalex:W4385975620)  
**Source**: https://4ort.xyz/entity/ring-roto-translation-invariant-gram-for-global-localization-on-a-sparse-scan-map