{"id":"https://openalex.org/W2580440899","doi":"https://doi.org/10.1109/icra.2017.7989366","title":"Deep learning features at scale for visual place recognition","display_name":"Deep learning features at scale for visual place recognition","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2580440899","doi":"https://doi.org/10.1109/icra.2017.7989366","mag":"2580440899"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989366","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/A5101962227","display_name":"Zetao Chen","orcid":"https://orcid.org/0000-0002-5596-5008"},"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"]},{"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":["CH","US"],"is_corresponding":false,"raw_author_name":"Zetao Chen","raw_affiliation_strings":["Robotics Lab at ETH, Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab at ETH, Zurich","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018831111","display_name":"Adam Jacobson","orcid":"https://orcid.org/0000-0002-8452-261X"},"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"]},{"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":["CH","US"],"is_corresponding":false,"raw_author_name":"Adam Jacobson","raw_affiliation_strings":["Robotics Lab at ETH, Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab at ETH, Zurich","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034957065","display_name":"Niko S\u00fcnderhauf","orcid":"https://orcid.org/0000-0001-5286-3789"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Niko Sunderhauf","raw_affiliation_strings":["Queensland University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112511255","display_name":"Ben Upcroft","orcid":null},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ben Upcroft","raw_affiliation_strings":["Queensland University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070976480","display_name":"Lingqiao Liu","orcid":"https://orcid.org/0000-0003-3584-795X"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Lingqiao Liu","raw_affiliation_strings":["University of Adelaide"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Adelaide","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006294869","display_name":"Chunhua Shen","orcid":"https://orcid.org/0000-0002-8648-8718"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Chunhua Shen","raw_affiliation_strings":["University of Adelaide"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Adelaide","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089444805","display_name":"Ian Reid","orcid":"https://orcid.org/0000-0001-7790-6423"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ian Reid","raw_affiliation_strings":["University of Adelaide"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Adelaide","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["Queensland University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":339,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3223","last_page":"3230"},"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":0.9975000023841858,"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":0.9969000220298767,"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/computer-science","display_name":"Computer science","score":0.8201247453689575},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6651665568351746},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5978628396987915},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5211772322654724},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.49505534768104553},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.48753878474235535},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4760470390319824},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4623014032840729},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.45723801851272583},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4404894709587097},{"id":"https://openalex.org/keywords/sketch-recognition","display_name":"Sketch recognition","score":0.43573105335235596},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4269990921020508},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.41778916120529175},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.38774627447128296},{"id":"https://openalex.org/keywords/gesture-recognition","display_name":"Gesture recognition","score":0.1280447542667389}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8201247453689575},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6651665568351746},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5978628396987915},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5211772322654724},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.49505534768104553},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.48753878474235535},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4760470390319824},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4623014032840729},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.45723801851272583},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4404894709587097},{"id":"https://openalex.org/C132900626","wikidata":"https://www.wikidata.org/wiki/Q7534733","display_name":"Sketch recognition","level":4,"score":0.43573105335235596},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4269990921020508},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.41778916120529175},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.38774627447128296},{"id":"https://openalex.org/C159437735","wikidata":"https://www.wikidata.org/wiki/Q1519524","display_name":"Gesture recognition","level":3,"score":0.1280447542667389},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/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.2017.7989366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989366","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"},{"id":"pmh:oai:eprints.qut.edu.au:109651","is_oa":false,"landing_page_url":"http://purl.org/au-research/grants/arc/FT140101229","pdf_url":null,"source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"Chapter in Book, Report or Conference volume"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W8177059","https://openalex.org/W26944259","https://openalex.org/W155607310","https://openalex.org/W204268067","https://openalex.org/W301022506","https://openalex.org/W1162411702","https://openalex.org/W1960777822","https://openalex.org/W2017814585","https://openalex.org/W2027686373","https://openalex.org/W2030987944","https://openalex.org/W2062858132","https://openalex.org/W2079112914","https://openalex.org/W2088468563","https://openalex.org/W2102605133","https://openalex.org/W2109197213","https://openalex.org/W2110405746","https://openalex.org/W2134670479","https://openalex.org/W2138621090","https://openalex.org/W2144824356","https://openalex.org/W2160110230","https://openalex.org/W2162536300","https://openalex.org/W2163605009","https://openalex.org/W2166049352","https://openalex.org/W2179352600","https://openalex.org/W2200124539","https://openalex.org/W2204975001","https://openalex.org/W2262703527","https://openalex.org/W2293047233","https://openalex.org/W2518534307","https://openalex.org/W2620629206","https://openalex.org/W2950094539","https://openalex.org/W2963775347","https://openalex.org/W3000423695","https://openalex.org/W4285719527","https://openalex.org/W6600609147","https://openalex.org/W6601039244","https://openalex.org/W6606343831","https://openalex.org/W6608313692","https://openalex.org/W6675026286","https://openalex.org/W6676338569","https://openalex.org/W6679792166","https://openalex.org/W6684191040"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2130974462","https://openalex.org/W972276598","https://openalex.org/W2086519370","https://openalex.org/W2144982973","https://openalex.org/W2735228446","https://openalex.org/W1811102175","https://openalex.org/W2169978370","https://openalex.org/W1529802745"],"abstract_inverted_index":{"The":[0],"success":[1],"of":[2,15,37,87,89,95],"deep":[3],"learning":[4],"techniques":[5],"in":[6,149,191],"the":[7,52,101,161],"computer":[8],"vision":[9],"domain":[10],"has":[11],"triggered":[12],"a":[13,59,79,116,124,175],"range":[14],"initial":[16],"investigations":[17],"into":[18,173],"their":[19,165],"utility":[20],"for":[21,34,51,180,188],"visual":[22],"place":[23,54,90,103,121,137,153,181],"recognition,":[24,182],"all":[25],"using":[26],"generic":[27],"features":[28],"from":[29,167],"networks":[30,132],"that":[31,119,142],"were":[32],"trained":[33,131],"other":[35,152],"types":[36],"recognition":[38,55,122,138,154],"tasks.":[39],"In":[40],"this":[41,72,192],"paper,":[42],"we":[43,76,170],"train,":[44],"at":[45,93],"large":[46],"scale,":[47],"two":[48],"CNN":[49],"architectures":[50],"specific":[53],"task":[56],"and":[57,67,140,156,164,183],"employ":[58],"multi-scale":[60],"feature":[61],"encoding":[62],"method":[63],"to":[64,74,100,113],"generate":[65],"condition-":[66],"viewpoint-invariant":[68],"features.":[69],"To":[70],"enable":[71],"training":[73,117,179],"occur,":[75],"have":[77],"developed":[78],"massive":[80],"Specific":[81],"PlacEs":[82],"Dataset":[83],"(SPED)":[84],"with":[85],"hundreds":[86],"examples":[88],"appearance":[91],"change":[92],"thousands":[94],"different":[96],"places,":[97],"as":[98,123],"opposed":[99],"semantic":[102],"type":[104],"datasets":[105,139],"currently":[106],"available.":[107],"This":[108],"new":[109],"dataset":[110],"enables":[111],"us":[112],"set":[114],"up":[115],"regime":[118],"interprets":[120],"classification":[125],"problem.":[126],"We":[127],"comprehensively":[128],"evaluate":[129],"our":[130],"on":[133],"several":[134],"challenging":[135],"benchmark":[136],"demonstrate":[141],"they":[143],"achieve":[144],"an":[145],"average":[146],"10%":[147],"increase":[148],"performance":[150],"over":[151],"algorithms":[155],"pre-trained":[157,168],"CNNs.":[158],"By":[159],"analyzing":[160],"network":[162,176],"responses":[163],"differences":[166],"networks,":[169],"provide":[171],"insights":[172],"what":[174,184],"learns":[177],"when":[178],"these":[185],"results":[186],"signify":[187],"future":[189],"research":[190],"area.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":37},{"year":2023,"cited_by_count":29},{"year":2022,"cited_by_count":45},{"year":2021,"cited_by_count":62},{"year":2020,"cited_by_count":62},{"year":2019,"cited_by_count":51},{"year":2018,"cited_by_count":27},{"year":2017,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
