{"id":"https://openalex.org/W2737874330","doi":"https://doi.org/10.1109/icra.2017.7989363","title":"Map quality evaluation for visual localization","display_name":"Map quality evaluation for visual localization","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737874330","doi":"https://doi.org/10.1109/icra.2017.7989363","mag":"2737874330"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5031686624","display_name":"Hamza Merzi\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Hamza Merzic","raw_affiliation_strings":["Authors are from the Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Authors are from the Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032724078","display_name":"Elena Stumm","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Elena Stumm","raw_affiliation_strings":["Authors are from the Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Authors are from the Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045300921","display_name":"Marcin Dymczyk","orcid":"https://orcid.org/0000-0003-3667-8764"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marcin Dymczyk","raw_affiliation_strings":["Authors are from the Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Authors are from the Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Authors are from the Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Authors are from the Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078356081","display_name":"Igor Gilitschenski","orcid":"https://orcid.org/0000-0001-6426-365X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Igor Gilitschenski","raw_affiliation_strings":["Authors are from the Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Authors are from the Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":7.4123,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.97278072,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3200","last_page":"3206"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9980999827384949,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9979000091552734,"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":0.8150666952133179},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.7254285216331482},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.7248314619064331},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.6502113342285156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6400312185287476},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6034535765647888},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5912641882896423},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5834418535232544},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5649403929710388},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.5300091505050659},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5064696073532104},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.482472687959671},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.4215836822986603},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.32944250106811523},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3102811574935913},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.21427416801452637}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8150666952133179},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.7254285216331482},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.7248314619064331},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.6502113342285156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6400312185287476},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6034535765647888},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5912641882896423},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5834418535232544},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5649403929710388},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.5300091505050659},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5064696073532104},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.482472687959671},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.4215836822986603},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.32944250106811523},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3102811574935913},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.21427416801452637},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W72675437","https://openalex.org/W198101923","https://openalex.org/W954728917","https://openalex.org/W1967241124","https://openalex.org/W1995266040","https://openalex.org/W2006368361","https://openalex.org/W2016356382","https://openalex.org/W2020950478","https://openalex.org/W2024676408","https://openalex.org/W2031110608","https://openalex.org/W2056554710","https://openalex.org/W2085261163","https://openalex.org/W2091750321","https://openalex.org/W2091790851","https://openalex.org/W2100522523","https://openalex.org/W2103052138","https://openalex.org/W2131503379","https://openalex.org/W2141584146","https://openalex.org/W2142710625","https://openalex.org/W2163309052","https://openalex.org/W2198391854","https://openalex.org/W2209718927","https://openalex.org/W2278591674","https://openalex.org/W2377533721","https://openalex.org/W2409360960","https://openalex.org/W4230475428","https://openalex.org/W4394651791","https://openalex.org/W6708889036"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W2052388267","https://openalex.org/W2950647290","https://openalex.org/W1968481813","https://openalex.org/W2620829895","https://openalex.org/W1581933381","https://openalex.org/W2907848307"],"abstract_inverted_index":{"A":[0,52],"variety":[1],"of":[2,18,48,65,82,94,202],"end-user":[3],"devices":[4],"involving":[5,134],"keypoint-based":[6],"mapping":[7],"systems":[8,97],"are":[9,156],"about":[10],"to":[11,115,158,170,195],"hit":[12],"the":[13,30,49,80,102,122,161,171,179,203],"market":[14],"e.g.":[15],"as":[16],"part":[17],"smartphones,":[19],"cars,":[20],"robotic":[21],"platforms,":[22],"or":[23,44],"virtual":[24],"and":[25,142],"augmented":[26],"reality":[27],"applications.":[28],"Thus,":[29],"generated":[31,137],"map":[32,63,124,181],"data":[33,136,144],"requires":[34],"automated":[35],"evaluation":[36],"procedures":[37],"that":[38,111,160],"do":[39],"not":[40],"require":[41],"experienced":[42],"personnel":[43],"ground":[45],"truth":[46],"knowledge":[47],"underlying":[50,123],"environment.":[51],"particularly":[53],"important":[54],"question":[55],"enabling":[56],"commercial":[57],"applications":[58],"is":[59,64,109,128,167],"whether":[60],"a":[61,73,107,113,116,139,187],"given":[62,117],"sufficient":[66],"quality":[67,182],"for":[68,75,91],"localization.":[69],"This":[70],"paper":[71],"proposes":[72],"framework":[74,192],"predicting":[76,92],"localization":[77,96,173],"performance":[78,93],"in":[79,193],"context":[81],"visual":[83],"landmark-based":[84],"mapping.":[85],"Specifically,":[86],"we":[87,155,176],"propose":[88],"an":[89,146],"algorithm":[90,127],"vision-based":[95],"from":[98,145],"different":[99],"poses":[100],"within":[101,186],"map.":[103,204],"To":[104],"achieve":[105],"this,":[106],"metric":[108],"defined":[110],"assigns":[112],"score":[114,162],"query":[118],"pose":[119],"based":[120,189],"on":[121,130],"structure.":[125],"The":[126],"evaluated":[129],"two":[131],"challenging":[132],"datasets":[133],"indoor":[135],"using":[138],"handheld":[140],"device":[141],"outdoor":[143],"autonomous":[147],"fixed-wing":[148],"unmanned":[149],"aerial":[150],"vehicle":[151],"(UAV).":[152],"Using":[153],"these,":[154],"able":[157],"show":[159],"provided":[163],"by":[164],"our":[165],"method":[166],"highly":[168],"correlated":[169],"true":[172],"performance.":[174],"Furthermore,":[175],"demonstrate":[177],"how":[178],"predicted":[180],"can":[183],"be":[184],"used":[185],"belief":[188],"path":[190],"planning":[191],"order":[194],"provide":[196],"reliable":[197],"trajectories":[198],"through":[199],"high-quality":[200],"areas":[201]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
