{"id":"https://openalex.org/W4383108293","doi":"https://doi.org/10.1109/icra48891.2023.10161420","title":"NeRF-Loc: Visual Localization with Conditional Neural Radiance Field","display_name":"NeRF-Loc: Visual Localization with Conditional Neural Radiance Field","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108293","doi":"https://doi.org/10.1109/icra48891.2023.10161420"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161420","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/A5100676394","display_name":"Jianlin Liu","orcid":"https://orcid.org/0009-0007-6264-1355"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianlin Liu","raw_affiliation_strings":["Tencent, Shennan Boulevard, Nanshan District,Shenzhen,China","Tencent, Shennan Boulevard, Nanshan District, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent, Shennan Boulevard, Nanshan District,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent, Shennan Boulevard, Nanshan District, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039200446","display_name":"Qiang Nie","orcid":"https://orcid.org/0000-0002-2778-4058"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Nie","raw_affiliation_strings":["Tencent, Shennan Boulevard, Nanshan District,Shenzhen,China","Tencent, Shennan Boulevard, Nanshan District, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent, Shennan Boulevard, Nanshan District,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent, Shennan Boulevard, Nanshan District, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085560112","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0002-3689-3264"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Tencent, Shennan Boulevard, Nanshan District,Shenzhen,China","Tencent, Shennan Boulevard, Nanshan District, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent, Shennan Boulevard, Nanshan District,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent, Shennan Boulevard, Nanshan District, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023834700","display_name":"Chengjie Wang","orcid":"https://orcid.org/0000-0003-4216-8090"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengjie Wang","raw_affiliation_strings":["Tencent, Shennan Boulevard, Nanshan District,Shenzhen,China","Tencent, Shennan Boulevard, Nanshan District, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent, Shennan Boulevard, Nanshan District,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent, Shennan Boulevard, Nanshan District, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100676394"],"corresponding_institution_ids":["https://openalex.org/I2250653659"],"apc_list":null,"apc_paid":null,"fwci":3.5754,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.94485869,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"9385","last_page":"9392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/T10531","display_name":"Advanced Vision and Imaging","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":0.9994999766349792,"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":0.9991000294685364,"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":0.8006305694580078},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7636383771896362},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6717694401741028},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5999503135681152},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5659124255180359},{"id":"https://openalex.org/keywords/conditional-random-field","display_name":"Conditional random field","score":0.5205405950546265},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.487447053194046},{"id":"https://openalex.org/keywords/feature-matching","display_name":"Feature matching","score":0.47223708033561707},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4366016387939453},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.41783463954925537}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8006305694580078},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7636383771896362},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6717694401741028},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5999503135681152},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5659124255180359},{"id":"https://openalex.org/C152565575","wikidata":"https://www.wikidata.org/wiki/Q1124538","display_name":"Conditional random field","level":2,"score":0.5205405950546265},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.487447053194046},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.47223708033561707},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4366016387939453},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.41783463954925537},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161420","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1989476314","https://openalex.org/W2200124539","https://openalex.org/W2556455135","https://openalex.org/W2603777577","https://openalex.org/W2620629206","https://openalex.org/W2922243907","https://openalex.org/W2951019013","https://openalex.org/W2963059198","https://openalex.org/W2963210849","https://openalex.org/W2963272646","https://openalex.org/W2963351448","https://openalex.org/W2963756608","https://openalex.org/W2963856988","https://openalex.org/W2982101479","https://openalex.org/W3017008958","https://openalex.org/W3034275286","https://openalex.org/W3106653913","https://openalex.org/W3109585842","https://openalex.org/W3112108866","https://openalex.org/W3114677757","https://openalex.org/W3141835154","https://openalex.org/W3166285241","https://openalex.org/W3175531575","https://openalex.org/W3176602998","https://openalex.org/W3177583232","https://openalex.org/W3186630079","https://openalex.org/W3203518786","https://openalex.org/W3204859697","https://openalex.org/W4214768561","https://openalex.org/W4225463530","https://openalex.org/W4281557677","https://openalex.org/W4312477504","https://openalex.org/W4312548398","https://openalex.org/W4312706422","https://openalex.org/W4312878643","https://openalex.org/W4312974334","https://openalex.org/W4383108921","https://openalex.org/W4389665446","https://openalex.org/W6802692370","https://openalex.org/W6843166957","https://openalex.org/W6846444214"],"related_works":["https://openalex.org/W2356597680","https://openalex.org/W2114846443","https://openalex.org/W3102147106","https://openalex.org/W2093471820","https://openalex.org/W2347460059","https://openalex.org/W50079190","https://openalex.org/W2111726165","https://openalex.org/W2123144113","https://openalex.org/W3106568383","https://openalex.org/W2083362030"],"abstract_inverted_index":{"We":[0],"propose":[1,90],"a":[2],"novel":[3],"visual":[4],"re-localization":[5],"method":[6,111],"based":[7],"on":[8,120],"direct":[9],"matching":[10,50],"between":[11,84,99],"the":[12,17,30,48,52,57,77,100,104],"implicit":[13],"3D":[14,31,40,101],"descriptors":[15,41],"and":[16,43,51,66,86,103],"2D":[18],"image":[19],"with":[20],"transformer.":[21],"A":[22],"conditional":[23],"neural":[24,44],"radiance":[25],"field(NeRF)":[26],"is":[27,124],"chosen":[28],"as":[29],"scene":[32,53,67],"representation":[33],"in":[34],"our":[35,60,110],"pipeline,":[36],"which":[37],"supports":[38],"continuous":[39],"generation":[42],"rendering.":[45],"By":[46],"unifying":[47],"feature":[49],"coordinate":[54],"regression":[55],"to":[56,75,95],"same":[58],"framework,":[59],"model":[61,102],"learns":[62],"both":[63],"generalizable":[64],"knowledge":[65],"prior":[68],"respectively":[69],"during":[70],"two":[71],"training":[72,85],"stages.":[73],"Furthermore,":[74],"improve":[76],"localization":[78,114],"robustness":[79],"when":[80],"domain":[81],"gap":[82],"exists":[83],"testing":[87],"phases,":[88],"we":[89],"an":[91],"appearance":[92],"adaptation":[93],"layer":[94],"explicitly":[96],"align":[97],"styles":[98],"query":[105],"image.":[106],"Experiments":[107],"show":[108],"that":[109],"achieves":[112],"higher":[113],"accuracy":[115],"than":[116],"other":[117],"learning-based":[118],"approaches":[119],"multiple":[121],"benchmarks.":[122],"Code":[123],"available":[125],"at":[126],"https://github.com/JenningsL/nerf-loc.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}