{"id":"https://openalex.org/W4383108891","doi":"https://doi.org/10.1109/icra48891.2023.10160679","title":"Unsupervised Quality Prediction for Improved Single-Frame and Weighted Sequential Visual Place Recognition","display_name":"Unsupervised Quality Prediction for Improved Single-Frame and Weighted Sequential Visual Place Recognition","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108891","doi":"https://doi.org/10.1109/icra48891.2023.10160679"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160679","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":"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/A5015064777","display_name":"Helen Carson","orcid":"https://orcid.org/0000-0002-4536-1083"},"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":"Helen Carson","raw_affiliation_strings":["QUT Centre for Robotics, School of Electrical Engineering and Robotics at the Queensland University of Technology,Brisbane,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"QUT Centre for Robotics, School of Electrical Engineering and Robotics at the Queensland University of Technology,Brisbane,Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041259481","display_name":"Jason Ford","orcid":"https://orcid.org/0000-0001-5847-6253"},"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":"Jason J. Ford","raw_affiliation_strings":["QUT Centre for Robotics, School of Electrical Engineering and Robotics at the Queensland University of Technology,Brisbane,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"QUT Centre for Robotics, School of Electrical Engineering and Robotics at the Queensland University of Technology,Brisbane,Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"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":["QUT Centre for Robotics, School of Electrical Engineering and Robotics at the Queensland University of Technology,Brisbane,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"QUT Centre for Robotics, School of Electrical Engineering and Robotics at the Queensland University of Technology,Brisbane,Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3955","last_page":"3961"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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"}},"topics":[{"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9986000061035156,"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":0.996999979019165,"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":0.8306959867477417},{"id":"https://openalex.org/keywords/predictability","display_name":"Predictability","score":0.7582873106002808},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.6146016120910645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5984907150268555},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5824087262153625},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5523715615272522},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5335776209831238},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.5051038861274719},{"id":"https://openalex.org/keywords/precision-and-recall","display_name":"Precision and recall","score":0.4959898889064789},{"id":"https://openalex.org/keywords/dependency","display_name":"Dependency (UML)","score":0.4723963439464569},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4243188202381134},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4149796664714813},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3963841497898102}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8306959867477417},{"id":"https://openalex.org/C197640229","wikidata":"https://www.wikidata.org/wiki/Q2534066","display_name":"Predictability","level":2,"score":0.7582873106002808},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6146016120910645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5984907150268555},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5824087262153625},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5523715615272522},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5335776209831238},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.5051038861274719},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.4959898889064789},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.4723963439464569},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4243188202381134},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4149796664714813},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3963841497898102},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160679","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"},{"id":"pmh:oai:eprints.qut.edu.au:242811","is_oa":false,"landing_page_url":"http://purl.org/au-research/grants/arc/FL210100156","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 2023 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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1974475880","https://openalex.org/W2085261163","https://openalex.org/W2110405746","https://openalex.org/W2117228865","https://openalex.org/W2119605622","https://openalex.org/W2124386111","https://openalex.org/W2156612738","https://openalex.org/W2284029970","https://openalex.org/W2558027072","https://openalex.org/W2580440899","https://openalex.org/W2620629206","https://openalex.org/W2726316372","https://openalex.org/W2886592705","https://openalex.org/W2964147947","https://openalex.org/W3004991469","https://openalex.org/W3008897023","https://openalex.org/W3087815220","https://openalex.org/W3093445145","https://openalex.org/W3094586482","https://openalex.org/W3106155562","https://openalex.org/W3110076758","https://openalex.org/W3117297562","https://openalex.org/W3137393880","https://openalex.org/W3154715315","https://openalex.org/W3173736705","https://openalex.org/W3210861499","https://openalex.org/W4285134996","https://openalex.org/W4285506369","https://openalex.org/W4287114155","https://openalex.org/W4289655887","https://openalex.org/W4308084260","https://openalex.org/W4320087056","https://openalex.org/W6683164696","https://openalex.org/W6754182925","https://openalex.org/W6774308738","https://openalex.org/W6782731347","https://openalex.org/W6803506702"],"related_works":["https://openalex.org/W2726467123","https://openalex.org/W2064726690","https://openalex.org/W4254065731","https://openalex.org/W4252678288","https://openalex.org/W1607297154","https://openalex.org/W4210820789","https://openalex.org/W2913177154","https://openalex.org/W4237782192","https://openalex.org/W4235131201","https://openalex.org/W4232793539"],"abstract_inverted_index":{"While":[0],"substantial":[1],"progress":[2],"has":[3],"been":[4],"made":[5],"in":[6,96,147],"the":[7,58,102,125,136,140,150,153,156,160,163],"absolute":[8],"performance":[9,80,137],"of":[10,61,84,139,155,162],"localization":[11,62],"and":[12,34,64,98,112,133,142,149,159],"Visual":[13],"Place":[14],"Recognition":[15],"(VPR)":[16],"techniques,":[17,115],"it":[18],"is":[19,93,99],"becoming":[20],"increasingly":[21],"clear":[22],"from":[23],"translating":[24],"these":[25,70],"systems":[26],"into":[27],"applications":[28],"that":[29,83],"other":[30],"capabilities":[31],"like":[32],"integrity":[33],"predictability":[35],"are":[36],"just":[37],"as":[38],"important,":[39],"especially":[40,123],"for":[41,68],"safety-":[42],"or":[43],"operationally-critical":[44],"autonomous":[45],"systems.":[46],"In":[47],"this":[48],"research":[49],"we":[50,116],"present":[51,131],"a":[52,65,74,85],"new,":[53],"training-free":[54],"approach":[55],"to":[56,72,77,101],"predicting":[57],"likely":[59],"quality":[60,154],"estimates,":[63],"novel":[66],"method":[67],"using":[69],"predictions":[71],"bias":[73],"sequence-matching":[75],"process":[76],"produce":[78],"additional":[79],"gains":[81],"beyond":[82],"naive":[86],"sequence":[87,144],"matching":[88,145],"approach.":[89],"Our":[90],"combined":[91],"system":[92,119,158],"lightweight,":[94],"runs":[95],"real-time":[97],"agnostic":[100],"underlying":[103],"VPR":[104,114],"technique.":[105],"On":[106],"extensive":[107],"experiments":[108],"across":[109],"four":[110],"datasets":[111],"three":[113],"demonstrate":[117],"our":[118],"improves":[120],"precision":[121],"performance,":[122],"at":[124],"high-precision/low-recall":[126],"operating":[127],"point.":[128],"We":[129],"also":[130],"ablation":[132],"analysis":[134],"identifying":[135],"contributions":[138],"prediction":[141,157],"weighted":[143,164],"components":[146],"isolation,":[148],"relationship":[151],"between":[152],"benefits":[161],"sequential":[165],"matcher.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
