{"id":"https://openalex.org/W4312924832","doi":"https://doi.org/10.1109/icpr56361.2022.9956392","title":"Long-term Visual Place Recognition","display_name":"Long-term Visual Place Recognition","publication_year":2022,"publication_date":"2022-08-21","ids":{"openalex":"https://openalex.org/W4312924832","doi":"https://doi.org/10.1109/icpr56361.2022.9956392"},"language":"en","primary_location":{"id":"doi:10.1109/icpr56361.2022.9956392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr56361.2022.9956392","pdf_url":null,"source":{"id":"https://openalex.org/S4363607731","display_name":"2022 26th International Conference on Pattern Recognition (ICPR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Pattern Recognition (ICPR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5078560324","display_name":"Farid Alijani","orcid":"https://orcid.org/0000-0003-3928-7291"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Farid Alijani","raw_affiliation_strings":["Tampere University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tampere University","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081375092","display_name":"Jukka Peltom\u00e4ki","orcid":"https://orcid.org/0000-0002-9779-6804"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jukka Peltom\u00e4ki","raw_affiliation_strings":["Tampere University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tampere University","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083707368","display_name":"Jussi Puura","orcid":"https://orcid.org/0000-0002-6674-7209"},"institutions":[{"id":"https://openalex.org/I4210085898","display_name":"Sandvik (Austria)","ror":"https://ror.org/00386qk52","country_code":"AT","type":"company","lineage":["https://openalex.org/I130375150","https://openalex.org/I4210085898"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Jussi Puura","raw_affiliation_strings":["Sandvik Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sandvik Ltd","institution_ids":["https://openalex.org/I4210085898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042399760","display_name":"Heikki Huttunen","orcid":"https://orcid.org/0000-0002-6571-0797"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Heikki Huttunen","raw_affiliation_strings":["Visy Ltd Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Visy Ltd Finland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054822570","display_name":"Joni\u2010Kristian K\u00e4m\u00e4r\u00e4inen","orcid":"https://orcid.org/0000-0002-5801-4371"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Joni-Kristian K\u00e4m\u00e4r\u00e4inen","raw_affiliation_strings":["Tampere University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tampere University","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088180438","display_name":"Esa Rahtu","orcid":"https://orcid.org/0000-0001-8767-0864"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Esa Rahtu","raw_affiliation_strings":["Tampere University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tampere University","institution_ids":["https://openalex.org/I166825849"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2034,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.89202987,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3422","last_page":"3428"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994999766349792,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.8251663446426392},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.746251106262207},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.656345784664154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6517584323883057},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.503795325756073},{"id":"https://openalex.org/keywords/degradation","display_name":"Degradation (telecommunications)","score":0.4872668981552124},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.4699414372444153},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4188403785228729},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3567694425582886},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1775326430797577},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.15867546200752258},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.11336499452590942},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11024850606918335},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08236497640609741}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8251663446426392},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.746251106262207},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.656345784664154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6517584323883057},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.503795325756073},{"id":"https://openalex.org/C2779679103","wikidata":"https://www.wikidata.org/wiki/Q5251805","display_name":"Degradation (telecommunications)","level":2,"score":0.4872668981552124},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.4699414372444153},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4188403785228729},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3567694425582886},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1775326430797577},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.15867546200752258},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.11336499452590942},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11024850606918335},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08236497640609741},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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},{"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icpr56361.2022.9956392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr56361.2022.9956392","pdf_url":null,"source":{"id":"https://openalex.org/S4363607731","display_name":"2022 26th International Conference on Pattern Recognition (ICPR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Pattern Recognition (ICPR)","raw_type":"proceedings-article"},{"id":"pmh:oai:trepo.tuni.fi:10024/222786","is_oa":false,"landing_page_url":"https://trepo.tuni.fi/handle/10024/222786","pdf_url":null,"source":{"id":"https://openalex.org/S4306401860","display_name":"Tampere University Institutional Repository (Tampere University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I150589677","host_organization_name":"Tampere University of Applied Sciences","host_organization_lineage":["https://openalex.org/I150589677"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8600000143051147,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W155607310","https://openalex.org/W301022506","https://openalex.org/W1162411702","https://openalex.org/W1987488988","https://openalex.org/W1989484209","https://openalex.org/W1995963656","https://openalex.org/W2012592962","https://openalex.org/W2046166954","https://openalex.org/W2110405746","https://openalex.org/W2114594485","https://openalex.org/W2144824356","https://openalex.org/W2150066425","https://openalex.org/W2155695215","https://openalex.org/W2163704618","https://openalex.org/W2284029970","https://openalex.org/W2558027072","https://openalex.org/W2580440899","https://openalex.org/W2620629206","https://openalex.org/W2737837382","https://openalex.org/W2740418457","https://openalex.org/W2883672875","https://openalex.org/W2886592705","https://openalex.org/W2963125676","https://openalex.org/W2963588253","https://openalex.org/W2964156323","https://openalex.org/W2964157791","https://openalex.org/W2983134350","https://openalex.org/W3008897023","https://openalex.org/W3034213661","https://openalex.org/W3110076758","https://openalex.org/W3110536152","https://openalex.org/W3163149666","https://openalex.org/W3168291432","https://openalex.org/W4200143393","https://openalex.org/W6606343831","https://openalex.org/W6754182925","https://openalex.org/W6774308738"],"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":[0,91,141],"this":[1],"work,":[2],"we":[3],"study":[4],"the":[5,22,30,67,89,92,95,101,104,115,119,138,172,182],"long-term":[6,17,150],"performance":[7,153,174],"of":[8,29,37,59,152,175],"visual":[9],"place":[10],"recognition":[11],"in":[12,110],"urban":[13],"outdoor":[14],"environment.":[15],"A":[16],"benchmark":[18,93],"is":[19,148],"constructed":[20],"from":[21,66],"Oxford":[23],"RobotCar":[24,64],"dataset.":[25],"It":[26],"contains":[27],"sequences":[28,53,65,106,132],"same":[31],"route":[32],"traversed":[33],"over":[34,155],"a":[35,149],"period":[36],"approx.":[38],"500":[39],"days.":[40],"We":[41,83],"carefully":[42],"selected":[43,120],"three":[44],"gallery":[45,96,121,139],"sequences,":[46],"one":[47],"training":[48,98,131],"sequence":[49,122],"and":[50,61,79,97,103,128],"15":[51],"query":[52,105],"that":[54,145],"cover":[55],"different":[56],"seasons,":[57],"times":[58],"day":[60],"weather.":[62],"The":[63,157],"first":[68],"half":[69],"year":[70],"have":[71],"several":[72],"problems,":[73],"for":[74],"example,":[75],"only":[76],"partial":[77],"routes":[78],"inaccurate":[80],"location":[81],"data.":[82],"circumvent":[84],"these":[85],"problems":[86],"by":[87],"reversing":[88],"time.":[90,111,156],"dataset":[94],"images":[99],"are":[100],"latest":[102],"go":[107],"gradually":[108],"back":[109],"Our":[112],"experiments":[113],"provide":[114],"following":[116],"findings.":[117],"1)":[118],"has":[123],"strong":[124],"impact":[125],"on":[126],"performance,":[127],"2)":[129],"additional":[130],"help":[133],"to":[134],"mitigate":[135],"differences":[136],"between":[137],"sequences.":[140],"addition,":[142],"results":[143],"indicate":[144],"3)":[146],"there":[147],"trend":[151],"degradation":[154,158],"can":[159],"be":[160],"quantified":[161],"as":[162],"about":[163],"6":[164],"percentage":[165],"points":[166],"per":[167],"100":[168],"days":[169],"and,":[170],"therefore,":[171],"initial":[173],"40%":[176],"eventually":[177],"drops":[178],"below":[179],"20%":[180],"at":[181],"end.":[183]},"counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}