{"id":"https://openalex.org/W7213428803","doi":"https://doi.org/10.48550/arxiv.2609.17168","title":"HuMemSLAM: Efficient Human-Inspired Semantic Place Recognition for Robust Visual SLAM","display_name":"HuMemSLAM: Efficient Human-Inspired Semantic Place Recognition for Robust Visual SLAM","publication_year":2026,"publication_date":"2026-09-15","ids":{"openalex":"https://openalex.org/W7213428803","doi":"https://doi.org/10.48550/arxiv.2609.17168"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2609.17168","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.17168","pdf_url":"https://arxiv.org/pdf/2609.17168","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2609.17168","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5151889741","display_name":"Mayowa Adebambo","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I124261462","display_name":"Oxford Brookes University","ror":"https://ror.org/04v2twj65","country_code":"GB","type":"education","lineage":["https://openalex.org/I124261462"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Adebambo, Mayowa","raw_affiliation_strings":["Oxford Brookes University , Oxford , UK","School of Engineering, Computing & Mathematics , Oxford Brookes University , Oxford , UK. Autonomous Driving and Intelligent Transport Group ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Brookes University , Oxford , UK","institution_ids":["https://openalex.org/I124261462"]},{"raw_affiliation_string":"School of Engineering, Computing & Mathematics , Oxford Brookes University , Oxford , UK. Autonomous Driving and Intelligent Transport Group ,","institution_ids":["https://openalex.org/I124261462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124156404","display_name":"Sebastian Donnelly","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I124261462","display_name":"Oxford Brookes University","ror":"https://ror.org/04v2twj65","country_code":"GB","type":"education","lineage":["https://openalex.org/I124261462"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Donnelly, Sebastian","raw_affiliation_strings":["School of Engineering, Computing & Mathematics , Oxford Brookes University , Oxford , UK. Autonomous Driving and Intelligent Transport Group ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Computing & Mathematics , Oxford Brookes University , Oxford , UK. Autonomous Driving and Intelligent Transport Group ,","institution_ids":["https://openalex.org/I124261462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127947545","display_name":"Armand Amaritei","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I124261462","display_name":"Oxford Brookes University","ror":"https://ror.org/04v2twj65","country_code":"GB","type":"education","lineage":["https://openalex.org/I124261462"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Amaritei, Armand","raw_affiliation_strings":["School of Engineering, Computing & Mathematics , Oxford Brookes University , Oxford , UK. Autonomous Driving and Intelligent Transport Group ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Computing & Mathematics , Oxford Brookes University , Oxford , UK. Autonomous Driving and Intelligent Transport Group ,","institution_ids":["https://openalex.org/I124261462"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bradley, Andrew","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I124261462","display_name":"Oxford Brookes University","ror":"https://ror.org/04v2twj65","country_code":"GB","type":"education","lineage":["https://openalex.org/I124261462"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bradley, Andrew","raw_affiliation_strings":["School of Engineering, Computing & Mathematics , Oxford Brookes University , Oxford , UK. Autonomous Driving and Intelligent Transport Group ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Computing & Mathematics , Oxford Brookes University , Oxford , UK. Autonomous Driving and Intelligent Transport Group ,","institution_ids":["https://openalex.org/I124261462"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015862358","display_name":"Alexander D. Rast","orcid":"https://orcid.org/0000-0001-9934-7191","observed_orcids":["https://orcid.org/0000-0001-9934-7191"]},"institutions":[{"id":"https://openalex.org/I124261462","display_name":"Oxford Brookes University","ror":"https://ror.org/04v2twj65","country_code":"GB","type":"education","lineage":["https://openalex.org/I124261462"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rast, Alexander","raw_affiliation_strings":["School of Engineering, Computing & Mathematics , Oxford Brookes University , Oxford , UK. Autonomous Driving and Intelligent Transport Group ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Computing & Mathematics , Oxford Brookes University , Oxford , UK. Autonomous Driving and Intelligent Transport Group ,","institution_ids":["https://openalex.org/I124261462"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I124261462"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":9.999999747378752e-05,"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":0.0,"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":0.8889999985694885},{"id":"https://openalex.org/keywords/visual-slam","display_name":"visual SLAM","score":0.9010000228881836},{"id":"https://openalex.org/keywords/perceptual-aliasing","display_name":"perceptual aliasing","score":0.8560000061988831},{"id":"https://openalex.org/keywords/perceptual-variation","display_name":"perceptual variation","score":0.8999999761581421},{"id":"https://openalex.org/keywords/orb-slam3","display_name":"ORB-SLAM3","score":0.8240000009536743},{"id":"https://openalex.org/keywords/real-time-retrieval","display_name":"real-time retrieval","score":0.6299999952316284}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7278000116348267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6717000007629395},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6534000039100647},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5575000047683716},{"id":"https://openalex.org/C100660578","wikidata":"https://www.wikidata.org/wiki/Q18733","display_name":"Recall","level":2,"score":0.5063999891281128},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4603999853134155},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44339999556541443},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4250999987125397},{"id":"https://openalex.org/C1667742","wikidata":"https://www.wikidata.org/wiki/Q10927554","display_name":"Image retrieval","level":3,"score":0.42399999499320984},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.39739999175071716},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.3797000050544739},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.36000001430511475},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.357699990272522},{"id":"https://openalex.org/C4679612","wikidata":"https://www.wikidata.org/wiki/Q866298","display_name":"Aggregate (composite)","level":2,"score":0.34929999709129333},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3228999972343445},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.31690001487731934},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C75165309","wikidata":"https://www.wikidata.org/wiki/Q2258979","display_name":"Search engine indexing","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.26339998841285706}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2609.17168","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.17168","pdf_url":"https://arxiv.org/pdf/2609.17168","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2609.17168","doi":"https://doi.org/10.48550/arxiv.2609.17168","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2609.17168","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2609.17168","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.17168","pdf_url":"https://arxiv.org/pdf/2609.17168","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7213428803.pdf","grobid_xml":"https://content.openalex.org/works/W7213428803.grobid-xml"},"referenced_works_count":1,"referenced_works":["https://openalex.org/W7163334624"],"related_works":["https://openalex.org/W4311519329","https://openalex.org/W4391768609","https://openalex.org/W4206310799","https://openalex.org/W2094602152","https://openalex.org/W4388623967","https://openalex.org/W4399352889","https://openalex.org/W2566138025","https://openalex.org/W66386067","https://openalex.org/W3131292969","https://openalex.org/W4298177747"],"abstract_inverted_index":{"Autonomous":[0],"systems":[1],"require":[2],"reliable":[3],"place":[4,44,54,99],"recognition":[5,55],"for":[6],"efficient":[7],"and":[8,12,24,38,50,71,78,92,129,148],"effective":[9],"simultaneous":[10],"localisation":[11],"mapping":[13],"(SLAM).":[14],"Traditional":[15],"geometric":[16,25,168],"visual":[17,53],"SLAM":[18,49],"approaches":[19],"rely":[20],"on":[21,119,125],"low-level":[22],"features":[23],"consistency,":[26],"but":[27],"remain":[28],"vulnerable":[29],"to":[30,96,132,166],"perceptual":[31,39,62,90],"aliasing,":[32],"where":[33,41],"different":[34],"places":[35],"appear":[36],"similar,":[37],"variation,":[40],"the":[42,85,105,114,120,126,138,144,163],"same":[43],"appears":[45],"different.":[46],"Although":[47],"semantic":[48],"modern":[51],"learned":[52],"(VPR)":[56],"methods":[57],"improve":[58],"robustness":[59],"under":[60],"challenging":[61],"conditions,":[63],"real-time":[64],"deployment":[65],"requires":[66],"both":[67],"high":[68],"retrieval":[69,117,160],"accuracy":[70,118,124],"low":[72],"latency.":[73],"Inspired":[74],"by":[75],"human":[76],"memory":[77],"perception,":[79],"we":[80],"propose":[81],"HuMem-VPR,":[82],"which":[83],"exploits":[84],"bidirectional":[86],"relationship":[87],"between":[88],"bottom-up":[89],"evidence":[91],"top-down":[93],"contextual":[94],"reasoning":[95],"achieve":[97],"high-level":[98],"understanding.":[100],"We":[101],"further":[102],"introduce":[103],"HuMemSLAM,":[104],"integration":[106],"of":[107],"HuMem-VPR":[108],"with":[109],"ORB-SLAM3.":[110],"HuMem":[111],"VPR":[112,141],"achieved":[113],"highest":[115],"aggregate":[116],"real-image":[121],"benchmark,":[122,128],"competitive":[123],"CARLA":[127],"approximately":[130],"two":[131],"three":[133],"times":[134],"lower":[135],"latency":[136],"than":[137],"evaluated":[139,145],"state-of-the-art":[140],"methods.":[142],"Across":[143],"dataset":[146],"families":[147],"online":[149],"experiments,":[150],"HuMemSLAM":[151],"substantially":[152],"improved":[153],"integrated":[154],"Recall":[155],"@1":[156],"over":[157],"ORB-SLAM3's":[158],"native":[159],"while":[161],"reducing":[162],"proposals":[164],"submitted":[165],"its":[167],"backend.":[169]},"counts_by_year":[],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2026-09-17T00:00:00"}
