{"id":"https://openalex.org/W1911794792","doi":"https://doi.org/10.1109/icra.2015.7140088","title":"Towards life-long visual localization using an efficient matching of binary sequences from images","display_name":"Towards life-long visual localization using an efficient matching of binary sequences from images","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1911794792","doi":"https://doi.org/10.1109/icra.2015.7140088","mag":"1911794792"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7140088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140088","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5023114838","display_name":"Roberto Arroyo","orcid":"https://orcid.org/0000-0003-2649-0477"},"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":"Roberto Arroyo","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054810781","display_name":"Pablo F. Alcantarilla","orcid":"https://orcid.org/0000-0001-7185-2911"},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]},{"id":"https://openalex.org/I4210143477","display_name":"Toshiba (United Kingdom)","ror":"https://ror.org/054hmd463","country_code":"GB","type":"company","lineage":["https://openalex.org/I1292669757","https://openalex.org/I4210143477"]}],"countries":["GB","JP"],"is_corresponding":false,"raw_author_name":"Pablo F. Alcantarilla","raw_affiliation_strings":["Computer Vision Group, Toshiba Research Europe Ltd, Cambridge, UK","Computer Vision Group, Toshiba Research Europe Ltd., Cambridge, CB4 0GZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Group, Toshiba Research Europe Ltd, Cambridge, UK","institution_ids":["https://openalex.org/I4210143477"]},{"raw_affiliation_string":"Computer Vision Group, Toshiba Research Europe Ltd., Cambridge, CB4 0GZ, UK","institution_ids":["https://openalex.org/I1292669757"]}]},{"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 (UAH), Madrid, Spain","Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]},{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101838212","display_name":"Eduardo Romera","orcid":"https://orcid.org/0000-0001-6250-6160"},"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":"Eduardo Romera","raw_affiliation_strings":["Department of Electronics, University of Alcal\u00e1 (UAH), Madrid, Spain","Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]},{"raw_affiliation_string":"Department of Electronics, University of Alcal\u00e1 (UAH), Alcal\u00e1 de Henares, 28871, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":250.3944,"has_fulltext":false,"cited_by_count":96,"citation_normalized_percentile":{"value":0.99969534,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6328","last_page":"6335"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9909999966621399,"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":0.6878395080566406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6824092268943787},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.6451207399368286},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.5787243843078613},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5762467384338379},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5320844054222107},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.49951672554016113},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49393612146377563},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.45870861411094666},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1795697808265686}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6878395080566406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6824092268943787},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.6451207399368286},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.5787243843078613},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5762467384338379},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5320844054222107},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.49951672554016113},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49393612146377563},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.45870861411094666},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1795697808265686},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7140088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140088","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.725.6544","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.725.6544","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robesafe.com/personal/roberto.arroyo/docs/Arroyo15icra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.46000000834465027,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1972062845","https://openalex.org/W1981962374","https://openalex.org/W1988703599","https://openalex.org/W1988867013","https://openalex.org/W1998728242","https://openalex.org/W2003919215","https://openalex.org/W2019085623","https://openalex.org/W2025183759","https://openalex.org/W2062091367","https://openalex.org/W2062858132","https://openalex.org/W2086504823","https://openalex.org/W2092428023","https://openalex.org/W2095761085","https://openalex.org/W2102035832","https://openalex.org/W2105741570","https://openalex.org/W2109197213","https://openalex.org/W2110405746","https://openalex.org/W2115499947","https://openalex.org/W2117741240","https://openalex.org/W2119605622","https://openalex.org/W2127061207","https://openalex.org/W2144824356","https://openalex.org/W2150252608","https://openalex.org/W2158229939","https://openalex.org/W2170037597","https://openalex.org/W2293047233","https://openalex.org/W2293882161","https://openalex.org/W2342383553","https://openalex.org/W3210232381","https://openalex.org/W4210951900","https://openalex.org/W6665757705","https://openalex.org/W6677967255","https://openalex.org/W6685012337","https://openalex.org/W6696812176","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W2381242807","https://openalex.org/W3126131230","https://openalex.org/W2347541121","https://openalex.org/W4288804799","https://openalex.org/W2080951048","https://openalex.org/W3089617106","https://openalex.org/W3032237421","https://openalex.org/W3011883280","https://openalex.org/W2390346111","https://openalex.org/W2369082698"],"abstract_inverted_index":{"Life-long":[0],"visual":[1,60],"localization":[2,62],"is":[3,22,105,126,133,167],"one":[4],"of":[5,19,55,67,74,76,109,120,144,172],"the":[6,13,24,52,72,110,145,177],"most":[7],"challenging":[8],"topics":[9],"in":[10,23,71,135],"robotics":[11],"over":[12],"last":[14],"few":[15],"years.":[16],"The":[17,65,107],"difficulty":[18],"this":[20,41],"task":[21],"strong":[25],"appearance":[26],"changes":[27],"that":[28],"a":[29,45,58,86,118,164],"place":[30],"suffers":[31],"due":[32],"to":[33,49],"dynamic":[34],"elements,":[35],"illumination,":[36],"weather":[37],"or":[38,154,174,179],"seasons.":[39,183],"In":[40],"paper,":[42],"we":[43],"propose":[44],"novel":[46],"method":[47,116],"(ABLE-M)":[48],"cope":[50],"with":[51],"main":[53,146],"problems":[54],"carrying":[56],"out":[57],"robust":[59],"topological":[61],"along":[63,176],"time.":[64],"novelty":[66],"our":[68],"approach":[69],"resides":[70],"description":[73,113],"sequences":[75],"monocular":[77],"images":[78],"as":[79,150],"binary":[80,112],"codes,":[81],"which":[82,125],"are":[83,157],"extracted":[84],"from":[85],"global":[87],"LDB":[88],"descriptor":[89],"and":[90,114,122],"efficiently":[91],"matched":[92],"using":[93],"FLANN":[94],"for":[95,128,159],"fast":[96],"nearest":[97],"neighbor":[98],"search.":[99],"Besides,":[100],"an":[101],"illumination":[102],"invariant":[103],"technique":[104],"applied.":[106],"usage":[108],"proposed":[111],"matching":[115],"provides":[117],"reduction":[119],"memory":[121],"computational":[123],"costs,":[124],"necessary":[127],"long-term":[129],"performance.":[130],"Our":[131],"proposal":[132],"evaluated":[134],"different":[136,170],"life-long":[137],"navigation":[138],"scenarios,":[139],"where":[140,163],"ABLE-M":[141],"outperforms":[142],"some":[143],"state-of-the-art":[147],"algorithms,":[148],"such":[149],"WI-SURF,":[151],"BRIEF-Gist,":[152],"FAB-MAP":[153],"SeqSLAM.":[155],"Tests":[156],"presented":[158],"four":[160,182],"public":[161],"datasets":[162],"same":[165],"route":[166],"traversed":[168],"at":[169],"times":[171],"day":[173],"night,":[175],"months":[178],"across":[180],"all":[181]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":16},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}