{"id":"https://openalex.org/W3089605395","doi":"https://doi.org/10.1109/icra40945.2020.9197205","title":"Keypoint Description by Descriptor Fusion Using Autoencoders","display_name":"Keypoint Description by Descriptor Fusion Using Autoencoders","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089605395","doi":"https://doi.org/10.1109/icra40945.2020.9197205","mag":"3089605395"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5101742317","display_name":"Zhuang Dai","orcid":"https://orcid.org/0000-0003-1335-6594"},"institutions":[{"id":"https://openalex.org/I2799850029","display_name":"Dongguan University of Technology","ror":"https://ror.org/01m8p7q42","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799850029"]},{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhuang Dai","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guang-dong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guang-dong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I2799850029","https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082618291","display_name":"Xinghong Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I2799850029","display_name":"Dongguan University of Technology","ror":"https://ror.org/01m8p7q42","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799850029"]},{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinghong Huang","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guang-dong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guang-dong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I2799850029","https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101989449","display_name":"Weinan Chen","orcid":"https://orcid.org/0009-0009-5233-6247"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]},{"id":"https://openalex.org/I2799850029","display_name":"Dongguan University of Technology","ror":"https://ror.org/01m8p7q42","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799850029"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weinan Chen","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guang-dong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guang-dong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I2799850029","https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074407589","display_name":"Chuangbing Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]},{"id":"https://openalex.org/I2799850029","display_name":"Dongguan University of Technology","ror":"https://ror.org/01m8p7q42","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799850029"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuangbing Chen","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guang-dong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guang-dong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I2799850029","https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100719321","display_name":"Li He","orcid":"https://orcid.org/0000-0003-0261-4068"},"institutions":[{"id":"https://openalex.org/I2799850029","display_name":"Dongguan University of Technology","ror":"https://ror.org/01m8p7q42","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799850029"]},{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li He","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guang-dong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guang-dong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I2799850029","https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067200719","display_name":"Shuhuan Wen","orcid":"https://orcid.org/0000-0002-7646-4958"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Shuhuan Wen","raw_affiliation_strings":["Department of Computing Science, University of Alberta, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Computing Science, University of Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100430266","display_name":"Hong Zhang","orcid":"https://orcid.org/0000-0002-1677-6132"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hong Zhang","raw_affiliation_strings":["Department of Computing Science, University of Alberta, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Computing Science, University of Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101742317"],"corresponding_institution_ids":["https://openalex.org/I139024713","https://openalex.org/I2799850029"],"apc_list":null,"apc_paid":null,"fwci":0.3908,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.62092492,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"4","issue":null,"first_page":"65","last_page":"71"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.998199999332428,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8024104833602905},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7270683646202087},{"id":"https://openalex.org/keywords/design-for-manufacturability","display_name":"Design for manufacturability","score":0.7097917795181274},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6675846576690674},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6147165894508362},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5869360566139221},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4869552552700043},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4590398967266083},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12749052047729492},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08678331971168518}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8024104833602905},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7270683646202087},{"id":"https://openalex.org/C62064638","wikidata":"https://www.wikidata.org/wiki/Q553878","display_name":"Design for manufacturability","level":2,"score":0.7097917795181274},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6675846576690674},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6147165894508362},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5869360566139221},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4869552552700043},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4590398967266083},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12749052047729492},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08678331971168518},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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":35,"referenced_works":["https://openalex.org/W1676552347","https://openalex.org/W1963631516","https://openalex.org/W2001141328","https://openalex.org/W2059288475","https://openalex.org/W2151103935","https://openalex.org/W2156718197","https://openalex.org/W2163605009","https://openalex.org/W2166132830","https://openalex.org/W2169446650","https://openalex.org/W2177066871","https://openalex.org/W2194775991","https://openalex.org/W2341545927","https://openalex.org/W2471962767","https://openalex.org/W2499468060","https://openalex.org/W2515131597","https://openalex.org/W2519683295","https://openalex.org/W2737260104","https://openalex.org/W2747988659","https://openalex.org/W2772126356","https://openalex.org/W2884088147","https://openalex.org/W2903545558","https://openalex.org/W2920327301","https://openalex.org/W2924876209","https://openalex.org/W2963059198","https://openalex.org/W2963157250","https://openalex.org/W2963446712","https://openalex.org/W2963748588","https://openalex.org/W2966911063","https://openalex.org/W3105885503","https://openalex.org/W6682755970","https://openalex.org/W6684191040","https://openalex.org/W6685191470","https://openalex.org/W6704443453","https://openalex.org/W6721735350","https://openalex.org/W6761069687"],"related_works":["https://openalex.org/W2094969048","https://openalex.org/W994558755","https://openalex.org/W3035935536","https://openalex.org/W2010746423","https://openalex.org/W2117710422","https://openalex.org/W2372119205","https://openalex.org/W1787300689","https://openalex.org/W4283270028","https://openalex.org/W1891369868","https://openalex.org/W1987106725"],"abstract_inverted_index":{"Keypoint":[0],"matching":[1,23],"is":[2,59,109,129,140],"an":[3],"important":[4],"operation":[5,24],"in":[6,20,47,116],"computer":[7,117],"vision":[8,118],"and":[9,17,33,49,97,103,142,147],"its":[10],"applications":[11],"such":[12,44],"as":[13,45,99],"visual":[14],"simultaneous":[15],"localization":[16],"mapping":[18],"(SLAM)":[19],"robotics.":[21],"This":[22],"heavily":[25],"depends":[26],"on":[27,87,111],"the":[28,31,88,112,136],"descriptors":[29,70],"of":[30,90,101],"keypoints,":[32],"it":[34],"must":[35],"be":[36,77],"performed":[37],"reliably":[38],"when":[39],"images":[40],"undergo":[41],"conditional":[42,121],"changes":[43],"those":[46],"illumination":[48],"viewpoint.":[50],"In":[51],"this":[52],"paper,":[53],"a":[54,63],"descriptor":[55,66],"fusion":[56],"model":[57],"(DFM)":[58],"proposed":[60,107],"to":[61,79,131],"create":[62],"robust":[64],"keypoint":[65],"by":[67],"fusing":[68],"CNN-based":[69],"using":[71],"autoencoders.":[72],"Our":[73,106],"DFM":[74,108,128],"architecture":[75],"can":[76],"adapted":[78],"either":[80],"trained":[81,102],"or":[82],"pre-trained":[83,104],"CNN":[84,92],"models.":[85],"Based":[86],"performance":[89],"existing":[91],"descriptors,":[93],"we":[94],"choose":[95],"HardNet":[96,146],"DenseNet169":[98],"representatives":[100],"descriptors.":[105],"evaluated":[110],"latest":[113],"benchmark":[114],"datasets":[115],"with":[119,135],"challenging":[120],"changes.":[122],"The":[123],"experimental":[124],"results":[125],"show":[126],"that":[127,139],"able":[130],"achieve":[132],"state-of-the-art":[133],"performance,":[134],"mean":[137],"mAP":[138],"6.45%":[141],"6.53%":[143],"higher":[144],"than":[145],"DenseNet169,":[148],"respectively.":[149]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
