{"id":"https://openalex.org/W4383066471","doi":"https://doi.org/10.1109/icra48891.2023.10160749","title":"Ensembles of Compact, Region-specific & Regularized Spiking Neural Networks for Scalable Place Recognition","display_name":"Ensembles of Compact, Region-specific & Regularized Spiking Neural Networks for Scalable Place Recognition","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066471","doi":"https://doi.org/10.1109/icra48891.2023.10160749"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160749","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/A5050818439","display_name":"Somayeh Hussaini","orcid":"https://orcid.org/0000-0002-7569-8672"},"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":true,"raw_author_name":"Somayeh Hussaini","raw_affiliation_strings":["School of Electrical Engineering and Robotics, Queensland University of Technology,QUT Centre for Robotics,Brisbane,QLD,Australia,4000"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Robotics, Queensland University of Technology,QUT Centre for Robotics,Brisbane,QLD,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","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":["School of Electrical Engineering and Robotics, Queensland University of Technology,QUT Centre for Robotics,Brisbane,QLD,Australia,4000"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Robotics, Queensland University of Technology,QUT Centre for Robotics,Brisbane,QLD,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071424922","display_name":"Tobias Fischer","orcid":"https://orcid.org/0000-0003-2183-017X"},"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":"Tobias Fischer","raw_affiliation_strings":["School of Electrical Engineering and Robotics, Queensland University of Technology,QUT Centre for Robotics,Brisbane,QLD,Australia,4000"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Robotics, Queensland University of Technology,QUT Centre for Robotics,Brisbane,QLD,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050818439"],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":1.071,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.76604369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4200","last_page":"4207"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","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"}},"topics":[{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976000189781189,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/scalability","display_name":"Scalability","score":0.8649408221244812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.80922931432724},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7995010614395142},{"id":"https://openalex.org/keywords/spiking-neural-network","display_name":"Spiking neural network","score":0.7509032487869263},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7310494184494019},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.6092365384101868},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5790301561355591},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5776577591896057},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.5594099164009094},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.542750358581543},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.523678719997406},{"id":"https://openalex.org/keywords/deep-neural-networks","display_name":"Deep neural networks","score":0.41351068019866943},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3959417939186096},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3953441381454468},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.358956515789032}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.8649408221244812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.80922931432724},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7995010614395142},{"id":"https://openalex.org/C11731999","wikidata":"https://www.wikidata.org/wiki/Q9067355","display_name":"Spiking neural network","level":3,"score":0.7509032487869263},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7310494184494019},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.6092365384101868},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5790301561355591},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5776577591896057},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.5594099164009094},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.542750358581543},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.523678719997406},{"id":"https://openalex.org/C2984842247","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep neural networks","level":3,"score":0.41351068019866943},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3959417939186096},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3953441381454468},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.358956515789032},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160749","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:243068","is_oa":false,"landing_page_url":null,"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":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321012","display_name":"Technische Universiteit Delft","ror":"https://ror.org/02e2c7k09"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W97067864","https://openalex.org/W1570411240","https://openalex.org/W1603307924","https://openalex.org/W2003465353","https://openalex.org/W2009839417","https://openalex.org/W2012592962","https://openalex.org/W2040759210","https://openalex.org/W2045257906","https://openalex.org/W2052055672","https://openalex.org/W2056155952","https://openalex.org/W2073761981","https://openalex.org/W2075772700","https://openalex.org/W2110405746","https://openalex.org/W2130459697","https://openalex.org/W2150884987","https://openalex.org/W2155193497","https://openalex.org/W2156594312","https://openalex.org/W2161338791","https://openalex.org/W2284029970","https://openalex.org/W2342383553","https://openalex.org/W2532724900","https://openalex.org/W2558027072","https://openalex.org/W2620629206","https://openalex.org/W2735317938","https://openalex.org/W2765138650","https://openalex.org/W2775079417","https://openalex.org/W2854632500","https://openalex.org/W2896919074","https://openalex.org/W2908544477","https://openalex.org/W2914993068","https://openalex.org/W2940791172","https://openalex.org/W2953649472","https://openalex.org/W2969331319","https://openalex.org/W2979058050","https://openalex.org/W2999879503","https://openalex.org/W3003876377","https://openalex.org/W3007283957","https://openalex.org/W3036016986","https://openalex.org/W3036078768","https://openalex.org/W3093445145","https://openalex.org/W3105922581","https://openalex.org/W3110076758","https://openalex.org/W3117297562","https://openalex.org/W3124676898","https://openalex.org/W3127336290","https://openalex.org/W3133213258","https://openalex.org/W3135588990","https://openalex.org/W3139657805","https://openalex.org/W3169602696","https://openalex.org/W3173736705","https://openalex.org/W3179808469","https://openalex.org/W3187923576","https://openalex.org/W3188250490","https://openalex.org/W3194466034","https://openalex.org/W3197667407","https://openalex.org/W3201013180","https://openalex.org/W3206549115","https://openalex.org/W3207611614","https://openalex.org/W4210786584","https://openalex.org/W4231081240","https://openalex.org/W4283753774","https://openalex.org/W4323708667","https://openalex.org/W4388277782","https://openalex.org/W6604003041","https://openalex.org/W6796101969","https://openalex.org/W6800031558","https://openalex.org/W6850626707"],"related_works":["https://openalex.org/W2120447654","https://openalex.org/W2977179488","https://openalex.org/W2144453115","https://openalex.org/W2744553356","https://openalex.org/W2128223750","https://openalex.org/W4238532390","https://openalex.org/W2188872161","https://openalex.org/W3153981999","https://openalex.org/W4225894772","https://openalex.org/W4220659530"],"abstract_inverted_index":{"Spiking":[0],"neural":[1,162],"networks":[2,58],"have":[3,21],"significant":[4],"potential":[5],"utility":[6],"in":[7,68],"robotics":[8],"due":[9],"to":[10,101,107,151],"their":[11,110],"high":[12],"energy":[13],"efficiency":[14],"on":[15,141,173,181],"specialized":[16],"hardware,":[17],"but":[18,177],"proof-of-concept":[19],"implementations":[20],"not":[22],"yet":[23],"typically":[24],"achieved":[25],"competitive":[26],"performance":[27,180],"or":[28],"capability":[29],"with":[30,87,149,200],"conventional":[31,202],"approaches.":[32],"In":[33],"this":[34,136],"paper,":[35],"we":[36],"tackle":[37],"one":[38],"of":[39,44,72,94,190],"the":[40,73,129,169,188,191,201],"key":[41],"practical":[42],"challenges":[43],"scalability":[45],"by":[46],"introducing":[47],"a":[48,69,80,88,92,117,159],"novel":[49],"modular":[50,77,139],"ensemble":[51],"network":[52,163],"approach,":[53],"where":[54,91,187],"compact,":[55],"localized":[56],"spiking":[57,161],"each":[59],"learn":[60],"and":[61,122,146,156,158,197],"are":[62],"solely":[63],"responsible":[64],"for":[65],"recognizing":[66],"places":[67,108],"local":[70],"region":[71],"environment":[74],"only.":[75],"This":[76],"approach":[78,119],"creates":[79],"highly":[81],"scalable":[82,138],"system.":[83,164],"However,":[84],"it":[85],"comes":[86],"high-performance":[89],"cost":[90],"lack":[93],"global":[95],"regularization":[96,118],"at":[97],"deployment":[98],"time":[99],"leads":[100],"hyperactive":[102,126],"neurons":[103,127],"that":[104,120],"erroneously":[105],"respond":[106],"outside":[109],"learned":[111],"region.":[112],"Our":[113,165],"second":[114],"contribution":[115],"introduces":[116],"detects":[121],"removes":[123],"these":[124],"problematic":[125],"during":[128],"initial":[130],"environmental":[131],"learning":[132],"phase.":[133],"We":[134],"evaluate":[135],"new":[137],"system":[140,166,172,193],"benchmark":[142,185],"localization":[143,203],"datasets":[144,186],"Nordland":[145],"Oxford":[147],"RobotCar,":[148],"comparisons":[150],"standard":[152],"techniques":[153],"NetVLAD,":[154],"DenseVLAD,":[155],"SAD,":[157],"previous":[160,170,192],"substantially":[167],"outperforms":[168],"SNN":[171],"its":[174],"small":[175],"dataset,":[176],"also":[178],"maintains":[179],"27":[182],"times":[183],"larger":[184],"operation":[189],"is":[194],"computationally":[195],"infeasible,":[196],"performs":[198],"competitively":[199],"systems.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}