{"id":"https://openalex.org/W2546427428","doi":"https://doi.org/10.1109/iconac.2016.7604929","title":"Night-time indoor relocalization using depth image with Convolutional Neural Networks","display_name":"Night-time indoor relocalization using depth image with Convolutional Neural Networks","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2546427428","doi":"https://doi.org/10.1109/iconac.2016.7604929","mag":"2546427428"},"language":"en","primary_location":{"id":"doi:10.1109/iconac.2016.7604929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iconac.2016.7604929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 22nd International Conference on Automation and Computing (ICAC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1983/60a841c8-66cf-49e9-9cac-ef10c0be5dd1","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101477550","display_name":"Ruihao Li","orcid":"https://orcid.org/0000-0002-9839-1489"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ruihao Li","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409431","display_name":"Qiang Liu","orcid":"https://orcid.org/0000-0001-7531-4459"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Qiang Liu","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076253353","display_name":"Jianjun Gui","orcid":"https://orcid.org/0000-0002-3001-5284"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jianjun Gui","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076389260","display_name":"Dongbing Gu","orcid":"https://orcid.org/0000-0002-0986-2921"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dongbing Gu","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100600900","display_name":"Huosheng Hu","orcid":"https://orcid.org/0000-0001-5797-1412"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Huosheng Hu","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK","institution_ids":["https://openalex.org/I110002522"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I110002522"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"261","last_page":"266"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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":0.9991999864578247,"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/convolutional-neural-network","display_name":"Convolutional neural network","score":0.8525904417037964},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8150240182876587},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.8125004768371582},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7441355586051941},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6974064707756042},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6652336716651917},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.5426968932151794},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.45757389068603516},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.40612319111824036},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15569749474525452},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08078280091285706}],"concepts":[{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.8525904417037964},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8150240182876587},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8125004768371582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7441355586051941},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6974064707756042},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6652336716651917},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.5426968932151794},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.45757389068603516},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.40612319111824036},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15569749474525452},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08078280091285706},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iconac.2016.7604929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iconac.2016.7604929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 22nd International Conference on Automation and Computing (ICAC)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.essex.ac.uk:19044","is_oa":false,"landing_page_url":"https://repository.essex.ac.uk/19044/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401236","display_name":"Open Access at Essex (University of Essex)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I110002522","host_organization_name":"University of Essex","host_organization_lineage":["https://openalex.org/I110002522"],"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":"Conference or Workshop Item"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire/60a841c8-66cf-49e9-9cac-ef10c0be5dd1","is_oa":true,"landing_page_url":"https://hdl.handle.net/1983/60a841c8-66cf-49e9-9cac-ef10c0be5dd1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Li, R, Liu, Q, Gui, J, Gu, D & Hu, H 2016, Night-time indoor relocalization using depth image with convolutional neural networks. in 2016 22nd International Conference on Automation and Computing (ICAC). https://doi.org/10.1109/IConAC.2016.7604929","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/60a841c8-66cf-49e9-9cac-ef10c0be5dd1","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/60a841c8-66cf-49e9-9cac-ef10c0be5dd1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Li, R, Liu, Q, Gui, J, Gu, D & Hu, H 2016, Night-time indoor relocalization using depth image with convolutional neural networks. in 2016 22nd International Conference on Automation and Computing (ICAC). https://doi.org/10.1109/IConAC.2016.7604929","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:research-information.bris.ac.uk:openaire/60a841c8-66cf-49e9-9cac-ef10c0be5dd1","is_oa":true,"landing_page_url":"https://hdl.handle.net/1983/60a841c8-66cf-49e9-9cac-ef10c0be5dd1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Li, R, Liu, Q, Gui, J, Gu, D & Hu, H 2016, Night-time indoor relocalization using depth image with convolutional neural networks. in 2016 22nd International Conference on Automation and Computing (ICAC). https://doi.org/10.1109/IConAC.2016.7604929","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7900000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320290","display_name":"University of Oxford","ror":"https://ror.org/052gg0110"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1532362218","https://openalex.org/W1565402342","https://openalex.org/W1593727536","https://openalex.org/W1677409904","https://openalex.org/W1799366690","https://openalex.org/W1969868017","https://openalex.org/W1974093076","https://openalex.org/W1989174032","https://openalex.org/W1989476314","https://openalex.org/W1989484209","https://openalex.org/W1999156278","https://openalex.org/W2029449100","https://openalex.org/W2056898157","https://openalex.org/W2081967359","https://openalex.org/W2082312667","https://openalex.org/W2083624955","https://openalex.org/W2097117768","https://openalex.org/W2117228865","https://openalex.org/W2124271771","https://openalex.org/W2127578024","https://openalex.org/W2128017662","https://openalex.org/W2146881125","https://openalex.org/W2147800946","https://openalex.org/W2155893237","https://openalex.org/W2187295369","https://openalex.org/W2200124539","https://openalex.org/W2279895976","https://openalex.org/W2290400697","https://openalex.org/W2963024893","https://openalex.org/W2963956866","https://openalex.org/W6638444622","https://openalex.org/W6674914833","https://openalex.org/W6695206952"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W4246352526","https://openalex.org/W2121910908","https://openalex.org/W915438175","https://openalex.org/W4230315250"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3],"present":[4],"a":[5,21,61,90],"Convolutional":[6],"Neural":[7],"Network(CNN)":[8],"with":[9,40],"depth":[10,75],"images":[11,76],"as":[12,57],"its":[13,71],"inputs":[14],"to":[15],"solve":[16],"the":[17,33],"relocalization":[18],"problem":[19],"of":[20,74],"moving":[22],"platform":[23],"in":[24,36,45,94],"night-time":[25],"indoor":[26],"environment.":[27],"The":[28,68,79],"developed":[29],"algorithm":[30],"can":[31],"estimate":[32],"camera":[34],"pose":[35,66],"an":[37],"end-to-end":[38],"manner":[39],"0.40m":[41],"and":[42,70],"7.49\u00b0":[43],"errors":[44],"real":[46],"time":[47],"during":[48],"night.":[49],"It":[50],"does":[51],"not":[52],"require":[53],"any":[54],"geometric":[55],"computation":[56],"it":[58],"directly":[59],"uses":[60],"CNN":[62],"for":[63],"6":[64],"DOFs":[65],"regression.":[67],"architecture":[69],"encoding":[72],"methods":[73],"are":[77],"discussed.":[78],"proposed":[80],"method":[81],"is":[82],"also":[83],"evaluated":[84],"on":[85],"benchmark":[86],"datasets":[87],"collected":[88],"from":[89],"motion":[91],"capture":[92],"system":[93],"our":[95],"lab.":[96]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}