{"id":"https://openalex.org/W2109664698","doi":"https://doi.org/10.1109/icra.2011.5979650","title":"Visibility learning in large-scale urban environment","display_name":"Visibility learning in large-scale urban environment","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2109664698","doi":"https://doi.org/10.1109/icra.2011.5979650","mag":"2109664698"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979650","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5054810781","display_name":"Pablo F. Alcantarilla","orcid":"https://orcid.org/0000-0001-7185-2911"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pablo F. Alcantarilla","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1, Madrid, Spain","[Dept. of Electronics, University of Alcal\u00e1, Alcal\u00e1 de Henares (Madrid), Spain]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]},{"raw_affiliation_string":"[Dept. of Electronics, University of Alcal\u00e1, Alcal\u00e1 de Henares (Madrid), Spain]","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075633314","display_name":"Kai Ni","orcid":"https://orcid.org/0000-0002-3628-3431"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kai Ni","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","School of Interactive Computing, Georgia Institute of Technology, Atlanta, 30332, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, 30332, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077780013","display_name":"Luis M. Bergasa","orcid":"https://orcid.org/0000-0002-0087-3077"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis M. Bergasa","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1, Madrid, Spain","[Dept. of Electronics, University of Alcal\u00e1, Alcal\u00e1 de Henares (Madrid), Spain]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]},{"raw_affiliation_string":"[Dept. of Electronics, University of Alcal\u00e1, Alcal\u00e1 de Henares (Madrid), Spain]","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087336025","display_name":"Frank Dellaert","orcid":"https://orcid.org/0000-0002-5532-3566"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank Dellaert","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","School of Interactive Computing, Georgia Institute of Technology, Atlanta, 30332, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, 30332, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6205","last_page":"6212"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9994000196456909,"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":0.9993000030517578,"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/visibility","display_name":"Visibility","score":0.8361272811889648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7981263995170593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7433056235313416},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7241691946983337},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5669333338737488},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5476419925689697},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.472700834274292},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.45301488041877747},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12370339035987854},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11008661985397339}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.8361272811889648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7981263995170593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7433056235313416},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7241691946983337},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5669333338737488},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5476419925689697},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.472700834274292},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.45301488041877747},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12370339035987854},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11008661985397339},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5979650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979650","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.380.9883","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.380.9883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cc.gatech.edu/~dellaert/ftp/Alcantarilla11icra.pdf","raw_type":"text"},{"id":"pmh:oai:smartech.gatech.edu:1853/38545","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/38545","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8399999737739563,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320309321","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44"},{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null},{"id":"https://openalex.org/F4320323755","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1495858509","https://openalex.org/W1661995841","https://openalex.org/W1663973292","https://openalex.org/W1689445748","https://openalex.org/W1835819080","https://openalex.org/W1972960823","https://openalex.org/W1983989471","https://openalex.org/W2026962663","https://openalex.org/W2058318567","https://openalex.org/W2085261163","https://openalex.org/W2122059483","https://openalex.org/W2128017662","https://openalex.org/W2128554449","https://openalex.org/W2134196520","https://openalex.org/W2134446283","https://openalex.org/W2143116602","https://openalex.org/W2151103935","https://openalex.org/W2152671441","https://openalex.org/W2156598602","https://openalex.org/W2161969291","https://openalex.org/W2163446794","https://openalex.org/W2177274842","https://openalex.org/W2536680313","https://openalex.org/W2975698860","https://openalex.org/W4256017923","https://openalex.org/W6637182498","https://openalex.org/W6657327592","https://openalex.org/W6679811677"],"related_works":["https://openalex.org/W2392812199","https://openalex.org/W4200176076","https://openalex.org/W598185802","https://openalex.org/W2355516524","https://openalex.org/W2361471170","https://openalex.org/W2025616642","https://openalex.org/W1954972543","https://openalex.org/W2954738200","https://openalex.org/W4220843223","https://openalex.org/W4226107239"],"abstract_inverted_index":{"A":[0],"crucial":[1],"step":[2],"in":[3,57,82,91,145],"many":[4],"vision":[5],"based":[6],"applications,":[7],"such":[8],"as":[9,113,115],"localization":[10],"and":[11,27,109,127,150],"structure":[12],"from":[13],"motion,":[14],"is":[15,89,123],"the":[16,45,65,102,106,110,116,120,134],"data":[17],"association":[18],"between":[19,87,105],"a":[20,32,40,54,74,78,84,140],"large":[21,141],"map":[22,108],"of":[23,47,67,136,147],"known":[24,48],"3D":[25,49,69,107,143],"points":[26,50],"2D":[28],"features":[29],"perceived":[30],"by":[31,99],"new":[33],"camera.":[34],"In":[35,60],"this":[36],"paper,":[37],"we":[38,63],"propose":[39],"novel":[41],"approach":[42],"to":[43,53,73],"predict":[44],"visibility":[46,66],"with":[51,71],"respect":[52,72],"query":[55],"camera":[56,75,111],"large-scale":[58],"environments.":[59],"our":[61,137],"approach,":[62],"model":[64,144],"each":[68],"point":[70],"pose":[76],"using":[77],"memory-based":[79],"learning":[80],"algorithm,":[81],"which":[83],"distance":[85],"metric":[86],"cameras":[88],"learned":[90],"an":[92],"entirely":[93],"non-parametric":[94],"way.":[95],"We":[96,132],"show":[97],"that":[98],"fully":[100],"exploiting":[101],"geometric":[103],"relationships":[104],"poses,":[112],"well":[114],"related":[117],"appearance":[118],"information,":[119],"resulting":[121],"prediction":[122],"much":[124],"more":[125],"robust":[126],"efficient":[128],"than":[129],"conventional":[130],"approaches.":[131],"demonstrate":[133],"performance":[135],"algorithm":[138],"on":[139],"urban":[142],"terms":[146],"both":[148],"speed":[149],"accuracy.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
