{"id":"https://openalex.org/W4383108614","doi":"https://doi.org/10.1109/icra48891.2023.10160298","title":"Probabilistic Uncertainty Quantification of Prediction Models with Application to Visual Localization","display_name":"Probabilistic Uncertainty Quantification of Prediction Models with Application to Visual Localization","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108614","doi":"https://doi.org/10.1109/icra48891.2023.10160298"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160298","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5032850336","display_name":"Junan Chen","orcid":"https://orcid.org/0000-0002-3274-240X"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Junan Chen","raw_affiliation_strings":["Cornell University,Mechanical and Aerospace Engineering Department","Mechanical and Aerospace Engineering Department, Cornell University"],"affiliations":[{"raw_affiliation_string":"Cornell University,Mechanical and Aerospace Engineering Department","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, Cornell University","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031691269","display_name":"Josephine Monica","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Josephine Monica","raw_affiliation_strings":["Cornell University,Mechanical and Aerospace Engineering Department","Mechanical and Aerospace Engineering Department, Cornell University"],"affiliations":[{"raw_affiliation_string":"Cornell University,Mechanical and Aerospace Engineering Department","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, Cornell University","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101520942","display_name":"Wei\u2010Lun Chao","orcid":"https://orcid.org/0000-0003-1269-7231"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei-Lun Chao","raw_affiliation_strings":["Ohio State University,Department of Computer Science and Engineering","Department of Computer Science and Engineering, Ohio State University"],"affiliations":[{"raw_affiliation_string":"Ohio State University,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Ohio State University","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087789612","display_name":"Mark Campbell","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Campbell","raw_affiliation_strings":["Cornell University,Mechanical and Aerospace Engineering Department","Mechanical and Aerospace Engineering Department, Cornell University"],"affiliations":[{"raw_affiliation_string":"Cornell University,Mechanical and Aerospace Engineering Department","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, Cornell University","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032850336"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":0.7408,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72368404,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4178","last_page":"4184"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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":0.9997000098228455,"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":0.9994000196456909,"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":0.7470220327377319},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.725409746170044},{"id":"https://openalex.org/keywords/measurement-uncertainty","display_name":"Measurement uncertainty","score":0.6127095818519592},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6053794622421265},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5750325322151184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5602491497993469},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5267055630683899},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4787135124206543},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4734591841697693},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.4604646861553192},{"id":"https://openalex.org/keywords/uncertainty-quantification","display_name":"Uncertainty quantification","score":0.4501138925552368},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4410567283630371},{"id":"https://openalex.org/keywords/statistical-model","display_name":"Statistical model","score":0.4209628999233246},{"id":"https://openalex.org/keywords/errors-in-variables-models","display_name":"Errors-in-variables models","score":0.41278186440467834},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.27500879764556885},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09496155381202698},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08778613805770874}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7470220327377319},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.725409746170044},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.6127095818519592},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6053794622421265},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5750325322151184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5602491497993469},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5267055630683899},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4787135124206543},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4734591841697693},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.4604646861553192},{"id":"https://openalex.org/C32230216","wikidata":"https://www.wikidata.org/wiki/Q7882499","display_name":"Uncertainty quantification","level":2,"score":0.4501138925552368},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4410567283630371},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.4209628999233246},{"id":"https://openalex.org/C179024874","wikidata":"https://www.wikidata.org/wiki/Q5395728","display_name":"Errors-in-variables models","level":2,"score":0.41278186440467834},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27500879764556885},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09496155381202698},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08778613805770874},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160298","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2625244145","display_name":null,"funder_award_id":"CNS-2211599,IIS-2107077","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8105294677","display_name":null,"funder_award_id":"N00014-17-1-2699","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W582134693","https://openalex.org/W1567512734","https://openalex.org/W1598033630","https://openalex.org/W1618905105","https://openalex.org/W1749494163","https://openalex.org/W1979931042","https://openalex.org/W1998911717","https://openalex.org/W2041263154","https://openalex.org/W2073761981","https://openalex.org/W2111051539","https://openalex.org/W2125795712","https://openalex.org/W2137556846","https://openalex.org/W2213387816","https://openalex.org/W2217115543","https://openalex.org/W2620629206","https://openalex.org/W2626967530","https://openalex.org/W2789510920","https://openalex.org/W2810469995","https://openalex.org/W2951019013","https://openalex.org/W2951266961","https://openalex.org/W2962705366","https://openalex.org/W2962808524","https://openalex.org/W2963125676","https://openalex.org/W2963238274","https://openalex.org/W2963324085","https://openalex.org/W2968505755","https://openalex.org/W2980854601","https://openalex.org/W2982529469","https://openalex.org/W2996122175","https://openalex.org/W3005861412","https://openalex.org/W3028559582","https://openalex.org/W3034275286","https://openalex.org/W3034975685","https://openalex.org/W3043075211","https://openalex.org/W3213979450","https://openalex.org/W4232919069","https://openalex.org/W4287083725","https://openalex.org/W4288091562","https://openalex.org/W4300772090","https://openalex.org/W4312543476","https://openalex.org/W6635717444","https://openalex.org/W6636501900","https://openalex.org/W6730042731","https://openalex.org/W6753254651","https://openalex.org/W6771574350","https://openalex.org/W6798726245","https://openalex.org/W6803950325"],"related_works":["https://openalex.org/W4295532600","https://openalex.org/W2063823869","https://openalex.org/W2047973478","https://openalex.org/W1991093342","https://openalex.org/W2067569035","https://openalex.org/W2090985514","https://openalex.org/W2113666009","https://openalex.org/W2078622645","https://openalex.org/W2170798819","https://openalex.org/W3127311823"],"abstract_inverted_index":{"The":[0,82],"uncertainty":[1,41,63,105,131,157,167,185],"quantification":[2,42],"of":[3,46,75,92,103],"prediction":[4,77,106,144],"models":[5],"(e.g.,":[6],"neural":[7],"networks)":[8],"is":[9,19,86],"crucial":[10],"for":[11,28,49],"their":[12],"adoption":[13],"in":[14,43,115],"many":[15],"robotics":[16],"applications.":[17],"This":[18,35],"arguably":[20],"as":[21,23,32,183],"important":[22],"making":[24],"accurate":[25],"predictions,":[26],"especially":[27],"safety-critical":[29],"applications":[30],"such":[31],"self-driving":[33],"cars.":[34],"paper":[36],"proposes":[37],"our":[38,104,165,170],"approach":[39],"to":[40,79,155,177,190],"the":[44,76,80,101,109,129,175,184,188,191],"context":[45],"visual":[47,93],"localization":[48,138],"autonomous":[50],"driving,":[51],"where":[52],"we":[53],"predict":[54],"locations":[55],"from":[56],"images.":[57],"Our":[58,140],"proposed":[59,166],"framework":[60,107],"estimates":[61],"probabilistic":[62,171],"by":[64,164],"creating":[65],"a":[66,136],"sensor":[67,83,181],"error":[68,84,145,172],"model":[69,78,85,173,189],"that":[70,143],"maps":[71],"an":[72],"internal":[73],"output":[74],"uncertainty.":[81],"created":[87],"using":[88,108],"multiple":[89],"image":[90],"databases":[91],"localization,":[94],"each":[95],"with":[96,148],"ground-truth":[97],"location.":[98],"We":[99,126],"demonstrate":[100],"accuracy":[102],"Ithaca365":[110],"dataset,":[111],"which":[112,160],"includes":[113],"variations":[114,146],"lighting,":[116],"weather":[117,150],"(sunny,":[118],"snowy,":[119],"night),":[120],"and":[121,132,151,158],"alignment":[122],"errors":[123],"between":[124],"databases.":[125],"analyze":[127],"both":[128],"predicted":[130,163],"its":[133],"incorporation":[134],"into":[135],"Kalman-based":[137],"filter.":[139],"results":[141],"show":[142],"increase":[147],"poor":[149],"lighting":[152],"condition,":[153],"leading":[154],"greater":[156],"outliers,":[159],"can":[161],"be":[162],"model.":[168],"Additionally,":[169],"enables":[174],"filter":[176],"remove":[178],"ad":[179],"hoc":[180],"gating,":[182],"automatically":[186],"adjusts":[187],"input":[192],"data.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}