{"id":"https://openalex.org/W3193769926","doi":"https://doi.org/10.1109/icip42928.2021.9506656","title":"Unsupervised Fast Visual Localization and Mapping with Slow Features","display_name":"Unsupervised Fast Visual Localization and Mapping with Slow Features","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W3193769926","doi":"https://doi.org/10.1109/icip42928.2021.9506656","mag":"3193769926"},"language":"en","primary_location":{"id":"doi:10.1109/icip42928.2021.9506656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icip42928.2021.9506656","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Image Processing (ICIP)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101480140","display_name":"Muhammad Haris","orcid":"https://orcid.org/0000-0003-0773-7657"},"institutions":[{"id":"https://openalex.org/I114090438","display_name":"Goethe University Frankfurt","ror":"https://ror.org/04cvxnb49","country_code":"DE","type":"education","lineage":["https://openalex.org/I114090438"]},{"id":"https://openalex.org/I5237613","display_name":"Frankfurt University of Applied Sciences","ror":"https://ror.org/02r625m11","country_code":"DE","type":"education","lineage":["https://openalex.org/I5237613"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Muhammad Haris","raw_affiliation_strings":["Frankfurt University of Applied Sciences,Germany","Frankfurt University of Applied Sciences, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Frankfurt University of Applied Sciences,Germany","institution_ids":["https://openalex.org/I5237613","https://openalex.org/I114090438"]},{"raw_affiliation_string":"Frankfurt University of Applied Sciences, Germany","institution_ids":["https://openalex.org/I5237613","https://openalex.org/I114090438"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059306568","display_name":"Mathias Franzius","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mathias Franzius","raw_affiliation_strings":["Honda Research Institute Europe GmbH,Germany","Honda Research Institute Europe GmbH, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe GmbH,Germany","institution_ids":["https://openalex.org/I4210112253"]},{"raw_affiliation_string":"Honda Research Institute Europe GmbH, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086974122","display_name":"Ute Bauer-Wersing","orcid":null},"institutions":[{"id":"https://openalex.org/I114090438","display_name":"Goethe University Frankfurt","ror":"https://ror.org/04cvxnb49","country_code":"DE","type":"education","lineage":["https://openalex.org/I114090438"]},{"id":"https://openalex.org/I5237613","display_name":"Frankfurt University of Applied Sciences","ror":"https://ror.org/02r625m11","country_code":"DE","type":"education","lineage":["https://openalex.org/I5237613"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ute Bauer-Wersing","raw_affiliation_strings":["Frankfurt University of Applied Sciences,Germany","Frankfurt University of Applied Sciences, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Frankfurt University of Applied Sciences,Germany","institution_ids":["https://openalex.org/I5237613","https://openalex.org/I114090438"]},{"raw_affiliation_string":"Frankfurt University of Applied Sciences, Germany","institution_ids":["https://openalex.org/I5237613","https://openalex.org/I114090438"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0986,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89473473,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"10","issue":null,"first_page":"519","last_page":"523"},"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/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":1.0,"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":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7020927667617798},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5596553087234497},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46842870116233826},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3276328146457672}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7020927667617798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5596553087234497},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46842870116233826},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3276328146457672}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icip42928.2021.9506656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icip42928.2021.9506656","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Image Processing (ICIP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W141746491","https://openalex.org/W153084048","https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W2052515926","https://openalex.org/W2146444479","https://openalex.org/W2148856562","https://openalex.org/W2151103935","https://openalex.org/W2161338791","https://openalex.org/W2167403166","https://openalex.org/W2471962767","https://openalex.org/W2522940611","https://openalex.org/W2605111497","https://openalex.org/W2773461341","https://openalex.org/W2892001382","https://openalex.org/W2892865870","https://openalex.org/W2900907615","https://openalex.org/W2922243907","https://openalex.org/W2963324085","https://openalex.org/W2963523575","https://openalex.org/W3003175444","https://openalex.org/W6754961012"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","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],"localization":[1,63,102,123,130],"is":[2,32,113],"the":[3,8,18,71,90,110],"task":[4],"of":[5,21,36],"accurately":[6],"estimating":[7],"camera\u2019s":[9],"position":[10],"in":[11,34,78,116,122,132],"a":[12,22],"known":[13],"environment.":[14],"State-of-the-art":[15],"methods":[16,100],"use":[17],"3D":[19,29],"structure":[20],"scene":[23,30],"for":[24],"precise":[25],"visual":[26],"localization.":[27],"However,":[28],"reconstruction":[31],"resource-intensive":[33],"terms":[35],"hardware":[37],"requirements":[38],"and":[39,64,70,84,97,104,119],"computation":[40,105],"time,":[41],"making":[42],"it":[43],"infeasible":[44],"to":[45],"run":[46],"on":[47],"low-cost":[48],"embedded":[49],"hardware.":[50],"Unsupervised":[51],"spatial":[52,86],"representation":[53],"learning":[54],"with":[55],"Slow":[56],"Feature":[57],"Analysis":[58],"(SFA)":[59],"enables":[60],"computationally":[61],"inexpensive":[62],"mapping.":[65],"This":[66],"paper":[67],"analyzes":[68],"SFA-based":[69,111],"well-known":[72],"structure-based":[73],"localization,":[74],"i.e.,":[75],"Active":[76,125],"Search,":[77],"two":[79],"distinct":[80],"settings:":[81],"short-term":[82],"temporal":[83],"extreme":[85],"generalization.":[87],"We":[88],"present":[89],"experimental":[91],"results":[92],"from":[93],"an":[94],"outdoor":[95],"environment":[96],"compare":[98],"both":[99],"w.r.t":[101],"accuracy":[103,131],"time.":[106],"Results":[107],"show":[108],"that":[109],"approach":[112],"886x":[114],"faster":[115,121],"mapping":[117],"time":[118],"34x":[120],"than":[124],"Search":[126],"while":[127],"achieving":[128],"comparable":[129],"our":[133],"test":[134],"scenario.":[135]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
