{"id":"https://openalex.org/W4401417153","doi":"https://doi.org/10.1109/icra57147.2024.10610564","title":"NYC-Indoor-VPR: A Long-Term Indoor Visual Place Recognition Dataset with Semi-Automatic Annotation","display_name":"NYC-Indoor-VPR: A Long-Term Indoor Visual Place Recognition Dataset with Semi-Automatic Annotation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417153","doi":"https://doi.org/10.1109/icra57147.2024.10610564"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610564","doi":"https://doi.org/10.1109/icra57147.2024.10610564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610564","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2404.00504","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083786712","display_name":"Diwei Sheng","orcid":"https://orcid.org/0009-0000-0587-4725","observed_orcids":["https://orcid.org/0009-0000-0587-4725"]},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Diwei Sheng","raw_affiliation_strings":["New York University,Brooklyn,NY,USA,11201"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New York University,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074067309","display_name":"Anbang Yang","orcid":"https://orcid.org/0000-0002-2677-072X","observed_orcids":["https://orcid.org/0000-0002-2677-072X"]},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anbang Yang","raw_affiliation_strings":["New York University,Brooklyn,NY,USA,11201"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New York University,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073829818","display_name":"John\u2010Ross Rizzo","orcid":"https://orcid.org/0000-0002-4084-0085","observed_orcids":["https://orcid.org/0000-0002-4084-0085","https://orcid.org/0009-0008-5274-3160"]},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John-Ross Rizzo","raw_affiliation_strings":["New York University,Brooklyn,NY,USA,11201"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New York University,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100699151","display_name":"Chen Feng","orcid":"https://orcid.org/0000-0003-3211-1576","observed_orcids":["https://orcid.org/0000-0003-3211-1576"]},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen Feng","raw_affiliation_strings":["New York University,Brooklyn,NY,USA,11201"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New York University,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I57206974"],"apc_list":null,"apc_paid":null,"fwci":3.3176,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.93270946,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"14853","last_page":"14859"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7925000190734863,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7925000190734863,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.18469999730587006,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.00570000009611249,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-place-recognition","display_name":"visual place recognition","score":0.8759999871253967},{"id":"https://openalex.org/keywords/indoor-environment","display_name":"indoor environment","score":0.7990000247955322},{"id":"https://openalex.org/keywords/semi-automatic-annotation","display_name":"semi-automatic annotation","score":0.5690000057220459},{"id":"https://openalex.org/keywords/ground-truth-annotation","display_name":"ground truth annotation","score":0.6620000004768372},{"id":"https://openalex.org/keywords/image-matching","display_name":"image matching","score":0.6430000066757202},{"id":"https://openalex.org/keywords/keyframe-matching","display_name":"keyframe matching","score":0.6420000195503235},{"id":"https://openalex.org/keywords/appearance-changes","display_name":"appearance changes","score":0.5260000228881836},{"id":"https://openalex.org/keywords/lighting-conditions","display_name":"lighting conditions","score":0.4740000069141388},{"id":"https://openalex.org/keywords/crowded-scenes","display_name":"crowded scenes","score":0.628000020980835},{"id":"https://openalex.org/keywords/localization","display_name":"localization","score":0.7129999995231628},{"id":"https://openalex.org/keywords/benchmark-dataset","display_name":"benchmark dataset","score":0.5139999985694885}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7667981386184692},{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.7220271229743958},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.6613248586654663},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.507665753364563},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46703240275382996},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3396156430244446},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra57147.2024.10610564","doi":"https://doi.org/10.1109/icra57147.2024.10610564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610564","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2404.00504","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2404.00504","pdf_url":"https://arxiv.org/pdf/2404.00504","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2404.00504","doi":"https://doi.org/10.48550/arxiv.2404.00504","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2404.00504","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2404.00504","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2404.00504","pdf_url":"https://arxiv.org/pdf/2404.00504","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G4654087002","display_name":"CAREER: Robust and Collaborative Perception and Navigation for Construction Robots","funder_award_id":"2238968","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401417153.pdf","grobid_xml":"https://content.openalex.org/works/W4401417153.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1964318763","https://openalex.org/W1989476314","https://openalex.org/W2073761981","https://openalex.org/W2112669647","https://openalex.org/W2179042386","https://openalex.org/W2194775991","https://openalex.org/W2471962767","https://openalex.org/W2535547924","https://openalex.org/W2564922936","https://openalex.org/W2745839262","https://openalex.org/W2963210849","https://openalex.org/W3035086574","https://openalex.org/W3159778524","https://openalex.org/W3162100037","https://openalex.org/W3205353764","https://openalex.org/W4312597490","https://openalex.org/W4312854990","https://openalex.org/W4319300119","https://openalex.org/W4386066001"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Visual":[0],"Place":[1],"Recognition":[2],"(VPR)":[3],"in":[4,61],"indoor":[5],"environments":[6],"is":[7,19,128],"beneficial":[8],"to":[9,22,138],"humans":[10],"and":[11,16,28,38,48,111,161],"robots":[12],"for":[13,36,86,164],"better":[14],"localization":[15],"navigation.":[17],"It":[18],"challenging":[20],"due":[21],"appearance":[23,71],"changes":[24],"at":[25],"various":[26],"frequencies,":[27],"difficulties":[29],"of":[30,51,99,107,115,125,149],"obtaining":[31],"ground":[32,84],"truth":[33,85],"metric":[34],"trajectories":[35],"training":[37],"evaluation.":[39],"This":[40],"paper":[41],"introduces":[42],"the":[43,83,96,140],"NYC-Indoor-VPR":[44],"dataset,":[45,157],"a":[46,79,90,146],"unique":[47],"rich":[49],"collection":[50],"over":[52],"36,000":[53],"images":[54,116],"compiled":[55],"from":[56],"13":[57],"distinct":[58],"crowded":[59],"scenes":[60],"New":[62],"York":[63],"City":[64],"taken":[65],"under":[66],"varying":[67],"lighting":[68],"conditions":[69],"with":[70,118],"changes.":[72],"Each":[73],"scene":[74],"has":[75],"multiple":[76],"revisits":[77],"across":[78],"year.":[80],"To":[81],"establish":[82],"VPR,":[87],"we":[88,144],"propose":[89],"semiautomatic":[91],"annotation":[92,136],"approach":[93],"that":[94],"computes":[95],"positional":[97],"information":[98],"each":[100],"image.":[101],"Our":[102],"method":[103],"specifically":[104],"takes":[105],"pairs":[106,114],"videos":[108],"as":[109],"input":[110],"yields":[112],"matched":[113],"along":[117],"their":[119],"estimated":[120],"relative":[121],"locations.":[122],"The":[123],"accuracy":[124],"this":[126],"matching":[127],"refined":[129],"by":[130],"human":[131],"annotators,":[132],"who":[133],"utilize":[134],"our":[135,155],"software":[137],"correlate":[139],"selected":[141],"keyframes.":[142],"Finally,":[143],"present":[145],"benchmark":[147],"evaluation":[148],"several":[150],"state-of-the-art":[151],"VPR":[152,165],"algorithms":[153],"using":[154],"annotated":[156],"revealing":[158],"its":[159],"challenge":[160],"thus":[162],"value":[163],"research.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2025-10-10T00:00:00"}