{"id":"https://openalex.org/W2409360960","doi":"https://doi.org/10.1109/icra.2016.7487209","title":"Off the beaten track: Predicting localisation performance in visual teach and repeat","display_name":"Off the beaten track: Predicting localisation performance in visual teach and repeat","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2409360960","doi":"https://doi.org/10.1109/icra.2016.7487209","mag":"2409360960"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5014175661","display_name":"Julie Dequaire","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["GB","US"],"is_corresponding":true,"raw_author_name":"Julie Dequaire","raw_affiliation_strings":["Mobile Robotics Group, Oxford University, Oxford, England"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics Group, Oxford University, Oxford, England","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013811117","display_name":"Chi Hay Tong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Chi Hay Tong","raw_affiliation_strings":["Mobile Robotics Group, Oxford University, Oxford, England"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics Group, Oxford University, Oxford, England","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113225139","display_name":"Winston Churchill","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Winston Churchill","raw_affiliation_strings":["Mobile Robotics Group, Oxford University, Oxford, England"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics Group, Oxford University, Oxford, England","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027013897","display_name":"Ingmar Posner","orcid":"https://orcid.org/0000-0001-6270-700X"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Ingmar Posner","raw_affiliation_strings":["Mobile Robotics Group, Oxford University, Oxford, England"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics Group, Oxford University, Oxford, England","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5014175661"],"corresponding_institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":33.095,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.99184349,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"795","last_page":"800"},"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":0.9983999729156494,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.7679723501205444},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7655242085456848},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6579810976982117},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6295704245567322},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5612805485725403},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.536162793636322},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5114225745201111},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5068402886390686},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.37491297721862793},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09286579489707947}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7679723501205444},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7655242085456848},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6579810976982117},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6295704245567322},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5612805485725403},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.536162793636322},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5114225745201111},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5068402886390686},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.37491297721862793},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09286579489707947},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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.2016.7487209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:16bf7d00-303c-4560-8e20-15ea8c3cbffe","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:16bf7d00-303c-4560-8e20-15ea8c3cbffe","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference item"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.7599999904632568,"display_name":"Quality Education"}],"awards":[{"id":"https://openalex.org/G2483205037","display_name":null,"funder_award_id":"EP/M019918/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G373928678","display_name":null,"funder_award_id":"EP/J012017/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8923966072","display_name":null,"funder_award_id":"EP/K034472/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1481261821","https://openalex.org/W1500998237","https://openalex.org/W1580529010","https://openalex.org/W1588649053","https://openalex.org/W1605499814","https://openalex.org/W1746819321","https://openalex.org/W1958903105","https://openalex.org/W1974093076","https://openalex.org/W1983872221","https://openalex.org/W1997645979","https://openalex.org/W1999695104","https://openalex.org/W2003919215","https://openalex.org/W2006368361","https://openalex.org/W2019085623","https://openalex.org/W2036668155","https://openalex.org/W2080765586","https://openalex.org/W2085261163","https://openalex.org/W2131846894","https://openalex.org/W2141139095","https://openalex.org/W2152032429","https://openalex.org/W2154280780","https://openalex.org/W4211049957","https://openalex.org/W4230475428","https://openalex.org/W4243493583","https://openalex.org/W4252664688","https://openalex.org/W6682583615"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W3131574667","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2387529410","https://openalex.org/W2039473718","https://openalex.org/W3023605104","https://openalex.org/W2914931737","https://openalex.org/W2169866437","https://openalex.org/W1964286703"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3,124],"appearance-based":[4],"approach":[5,139],"to":[6,21,39,44,51,84,98,149,168],"estimating":[7],"localisation":[8,34,54,76,151],"performance":[9,77,86,152,166],"in":[10,58,78,87,109],"the":[11,23,75,100,110,128],"context":[12],"of":[13,103,117,127,157],"visual":[14],"teach":[15,111],"and":[16,123],"repeat.":[17],"Specifically,":[18],"it":[19,147],"aims":[20],"estimate":[22,99],"likely":[24,101],"corridor":[25],"around":[26],"a":[27,32,94,115,155],"taught":[28,170],"trajectory":[29,118],"within":[30],"which":[31],"vision-based":[33],"system":[35,48],"is":[36,49],"still":[37],"able":[38,50,83],"localise":[40],"itself.":[41],"In":[42],"contrast":[43],"prior":[45,144],"art,":[46],"our":[47,138],"predict":[52,85],"this":[53],"envelope":[55],"for":[56,106],"trajectories":[57],"similar,":[59],"yet":[60,69],"geographically":[61],"distant":[62],"locations":[63],"where":[64],"no":[65],"repeat":[66,158],"runs":[67],"have":[68],"been":[70],"performed.":[71],"Thus,":[72],"by":[73],"characterising":[74],"one":[79],"region,":[80],"we":[81,92,135],"are":[82],"another.":[88],"To":[89],"achieve":[90],"this,":[91],"leverage":[93],"Gaussian":[95],"Process":[96],"regressor":[97],"number":[102,156],"feature":[104],"matches":[105],"any":[107],"keyframe":[108],"run,":[112],"based":[113,153],"on":[114,154],"combination":[116],"properties":[119],"such":[120],"as":[121,141,143],"curvature":[122],"appearance":[125],"model":[126],"keyframe.":[129],"Using":[130],"data":[131],"from":[132],"real":[133],"traversals,":[134],"demonstrate":[136],"that":[137],"performs":[140],"well":[142,163],"art":[145],"when":[146],"comes":[148],"interpolating":[150],"runs,":[159],"while":[160],"also":[161],"performing":[162],"at":[164],"generalising":[165],"estimation":[167],"freshly":[169],"trajectories.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}