{"id":"https://openalex.org/W3101664348","doi":"https://doi.org/10.1109/icra48506.2021.9560872","title":"Learning to Localize in New Environments from Synthetic Training Data","display_name":"Learning to Localize in New Environments from Synthetic Training Data","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3101664348","doi":"https://doi.org/10.1109/icra48506.2021.9560872","mag":"3101664348"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2011.04539","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059182147","display_name":"Dominik Winkelbauer","orcid":"https://orcid.org/0000-0001-7443-1071"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Dominik Winkelbauer","raw_affiliation_strings":["Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Dep. of Perception and Cognition,Wessling,Germany,82234"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Dep. of Perception and Cognition,Wessling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020186201","display_name":"Maximilian Denninger","orcid":"https://orcid.org/0000-0002-1557-2234"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Denninger","raw_affiliation_strings":["Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Dep. of Perception and Cognition,Wessling,Germany,82234"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Dep. of Perception and Cognition,Wessling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050478468","display_name":"Rudolph Triebel","orcid":"https://orcid.org/0000-0002-7975-036X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudolph Triebel","raw_affiliation_strings":["Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Dep. of Perception and Cognition,Wessling,Germany,82234"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Dep. of Perception and Cognition,Wessling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059182147"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00505911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5840","last_page":"5846"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9995999932289124,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9990000128746033,"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":0.7952409982681274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7472683191299438},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6772059798240662},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5774481296539307},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5481477379798889},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.5209768414497375},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.450785756111145},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.41864073276519775},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2882394790649414},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09663480520248413}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7952409982681274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7472683191299438},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6772059798240662},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5774481296539307},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5481477379798889},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.5209768414497375},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.450785756111145},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.41864073276519775},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2882394790649414},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09663480520248413},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra48506.2021.9560872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:143564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ICRA48506.2021.9560872>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:arXiv.org:2011.04539","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.04539","pdf_url":"https://arxiv.org/pdf/2011.04539","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3101664348","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2011.04539","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2011.04539","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2011.04539","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2011.04539","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.04539","pdf_url":"https://arxiv.org/pdf/2011.04539","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W963660264","https://openalex.org/W1523444002","https://openalex.org/W1686810756","https://openalex.org/W1893935112","https://openalex.org/W1901129140","https://openalex.org/W2043732461","https://openalex.org/W2073761981","https://openalex.org/W2097117768","https://openalex.org/W2179042386","https://openalex.org/W2200124539","https://openalex.org/W2522940611","https://openalex.org/W2535547924","https://openalex.org/W2556455135","https://openalex.org/W2557465155","https://openalex.org/W2584731199","https://openalex.org/W2593174349","https://openalex.org/W2594519801","https://openalex.org/W2602709638","https://openalex.org/W2605111497","https://openalex.org/W2728498859","https://openalex.org/W2771385090","https://openalex.org/W2795645133","https://openalex.org/W2798302276","https://openalex.org/W2892805284","https://openalex.org/W2892865870","https://openalex.org/W2907605908","https://openalex.org/W2922243907","https://openalex.org/W2949830259","https://openalex.org/W2951019013","https://openalex.org/W2962799344","https://openalex.org/W2963024893","https://openalex.org/W2963053725","https://openalex.org/W2963730218","https://openalex.org/W2963856988","https://openalex.org/W2964141169","https://openalex.org/W2964175348","https://openalex.org/W2983230029","https://openalex.org/W3091598621","https://openalex.org/W3099342433","https://openalex.org/W3102327032","https://openalex.org/W4250666038","https://openalex.org/W6637373629","https://openalex.org/W6639824700","https://openalex.org/W6677749650","https://openalex.org/W6695206952","https://openalex.org/W6732999015","https://openalex.org/W6749736407","https://openalex.org/W6753718150","https://openalex.org/W6754961012","https://openalex.org/W6757262461","https://openalex.org/W6764040762","https://openalex.org/W6766299399","https://openalex.org/W6864332406"],"related_works":["https://openalex.org/W3207013765","https://openalex.org/W140232400","https://openalex.org/W998260344","https://openalex.org/W2508402851","https://openalex.org/W2963338719","https://openalex.org/W3083498881","https://openalex.org/W2990223477","https://openalex.org/W3013502921","https://openalex.org/W3083866628","https://openalex.org/W3170568167","https://openalex.org/W3160923251","https://openalex.org/W3194197043","https://openalex.org/W3208869563","https://openalex.org/W2963101867","https://openalex.org/W2201346160","https://openalex.org/W2792892164","https://openalex.org/W2150210531","https://openalex.org/W3047670284","https://openalex.org/W3201085568","https://openalex.org/W2904467795"],"abstract_inverted_index":{"Most":[0],"existing":[1,177],"approaches":[2,51,126,141],"for":[3,25,38,42],"visual":[4],"localization":[5],"either":[6,31],"need":[7],"a":[8,156],"detailed":[9],"3D":[10],"model":[11,86],"of":[12,19,58,95,102,139],"the":[13,17,55,85,93,100,110,140,147],"environment":[14],"or,":[15],"in":[16,44,155],"case":[18],"learning-based":[20,50,125,172,178],"methods,":[21],"must":[22],"be":[23,32],"retrained":[24],"each":[26],"new":[27,78],"scene.":[28],"This":[29],"can":[30,75],"very":[33,160],"expensive":[34],"or":[35],"simply":[36],"impossible":[37],"large,":[39],"unknown":[40],"environments,":[41],"example":[43],"search-and-rescue":[45],"scenarios.":[46],"Although":[47],"there":[48],"are":[49],"that":[52,74,127,142,165],"operate":[53],"scene-agnostically,":[54],"generalization":[56],"capability":[57],"these":[59],"methods":[60],"is":[61,134],"still":[62],"outperformed":[63],"by":[64,80],"classical":[65,180],"approaches.":[66],"In":[67],"this":[68],"paper,":[69],"we":[70],"present":[71],"an":[72,89],"approach":[73,108,154,173],"generalize":[76],"to":[77,84,137],"scenes":[79],"applying":[81],"specific":[82],"changes":[83],"architecture,":[87],"including":[88],"extended":[90],"regression":[91],"part,":[92],"use":[94],"hierarchical":[96],"correlation":[97],"layers,":[98],"and":[99,104,120,179],"exploitation":[101],"scale":[103],"uncertainty":[105],"information.":[106],"Our":[107],"outperforms":[109],"5-point":[111],"algorithm":[112],"using":[113],"SIFT":[114],"features":[115],"on":[116,130,146],"equally":[117],"big":[118],"images":[119],"additionally":[121],"surpasses":[122],"all":[123],"previous":[124],"were":[128,143],"trained":[129,145],"different":[131],"data.":[132],"It":[133],"also":[135,151],"superior":[136],"most":[138],"specifically":[144],"respective":[148],"scenes.":[149],"We":[150],"evaluate":[152],"our":[153,171],"scenario":[157],"with":[158],"only":[159],"few":[161],"reference":[162],"images,":[163],"showing":[164],"under":[166],"such":[167],"more":[168],"realistic":[169],"conditions":[170],"considerably":[174],"exceeds":[175],"both":[176],"methods.":[181]},"counts_by_year":[],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
