{"id":"https://openalex.org/W4413925329","doi":"https://doi.org/10.1109/icra55743.2025.11127718","title":"Neuraloc: Visual Localization in Neural Implicit Map With Dual Complementary Features","display_name":"Neuraloc: Visual Localization in Neural Implicit Map With Dual Complementary Features","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925329","doi":"https://doi.org/10.1109/icra55743.2025.11127718"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127718","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5069707429","display_name":"Hongjia Zhai","orcid":"https://orcid.org/0000-0002-7729-8787"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongjia Zhai","raw_affiliation_strings":["Zhejiang University,State Key Lab of CAD&#x0026;CG,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Lab of CAD&#x0026;CG,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103281510","display_name":"Boming Zhao","orcid":"https://orcid.org/0000-0003-3267-6040"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boming Zhao","raw_affiliation_strings":["Zhejiang University,State Key Lab of CAD&#x0026;CG,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Lab of CAD&#x0026;CG,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100429377","display_name":"Hai Li","orcid":"https://orcid.org/0000-0001-8504-5811"},"institutions":[{"id":"https://openalex.org/I182003036","display_name":"IDEO (United States)","ror":"https://ror.org/039d85044","country_code":"US","type":"company","lineage":["https://openalex.org/I182003036"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hai Li","raw_affiliation_strings":["RayNeo,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RayNeo,China","institution_ids":["https://openalex.org/I182003036"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058813054","display_name":"Xiaokun Pan","orcid":"https://orcid.org/0000-0002-7438-1665"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaokun Pan","raw_affiliation_strings":["Zhejiang University,State Key Lab of CAD&#x0026;CG,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Lab of CAD&#x0026;CG,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029738461","display_name":"Yijia He","orcid":"https://orcid.org/0000-0003-4358-7393"},"institutions":[{"id":"https://openalex.org/I182003036","display_name":"IDEO (United States)","ror":"https://ror.org/039d85044","country_code":"US","type":"company","lineage":["https://openalex.org/I182003036"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yijia He","raw_affiliation_strings":["RayNeo,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RayNeo,China","institution_ids":["https://openalex.org/I182003036"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075311772","display_name":"Zhaopeng Cui","orcid":"https://orcid.org/0000-0002-7130-439X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaopeng Cui","raw_affiliation_strings":["Zhejiang University,State Key Lab of CAD&#x0026;CG,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Lab of CAD&#x0026;CG,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059021869","display_name":"Hujun Bao","orcid":"https://orcid.org/0000-0002-2662-0334"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hujun Bao","raw_affiliation_strings":["Zhejiang University,State Key Lab of CAD&#x0026;CG,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Lab of CAD&#x0026;CG,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100693449","display_name":"Guofeng Zhang","orcid":"https://orcid.org/0000-0001-5854-5247"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guofeng Zhang","raw_affiliation_strings":["Zhejiang University,State Key Lab of CAD&#x0026;CG,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Lab of CAD&#x0026;CG,China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11706","last_page":"11713"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.9258999824523926,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10320","display_name":"Neural Networks and Applications","score":0.9258999824523926,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/dual","display_name":"Dual (grammatical number)","score":0.7173664569854736},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7085204720497131},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6251900792121887},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.48254483938217163},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4627988040447235},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4233134388923645}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.7173664569854736},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7085204720497131},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6251900792121887},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.48254483938217163},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4627988040447235},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4233134388923645},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127718","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2158037313","display_name":null,"funder_award_id":"6242500063","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1991544872","https://openalex.org/W2085261163","https://openalex.org/W2151103935","https://openalex.org/W2200124539","https://openalex.org/W2222512263","https://openalex.org/W2556455135","https://openalex.org/W2795645133","https://openalex.org/W2951019013","https://openalex.org/W2962705366","https://openalex.org/W2963272646","https://openalex.org/W3017008958","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3109585842","https://openalex.org/W3112108866","https://openalex.org/W3112165707","https://openalex.org/W3154129649","https://openalex.org/W3166285241","https://openalex.org/W3177583232","https://openalex.org/W3202037070","https://openalex.org/W3210613940","https://openalex.org/W3211077271","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4237648096","https://openalex.org/W4307783807","https://openalex.org/W4310643199","https://openalex.org/W4312706422","https://openalex.org/W4312878643","https://openalex.org/W4321512490","https://openalex.org/W4321608015","https://openalex.org/W4383108293","https://openalex.org/W4383108921","https://openalex.org/W4383503807","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4390873473","https://openalex.org/W4390874575","https://openalex.org/W4393159733","https://openalex.org/W4401413794","https://openalex.org/W4401415265","https://openalex.org/W4402389384","https://openalex.org/W4404875197"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Recently,":[0],"neural":[1,50],"radiance":[2],"fields":[3],"(NeRF)":[4],"have":[5],"gained":[6],"significant":[7],"attention":[8],"in":[9,171],"the":[10,49,74,84,98,114,128,149],"field":[11],"of":[12,87,102],"visual":[13,44,194],"localization.":[14],"However,":[15],"existing":[16],"NeRF-based":[17,151,193],"approaches":[18],"either":[19],"lack":[20],"geometric":[21,59],"constraints":[22,60],"or":[23,186],"require":[24],"extensive":[25],"storage":[26,63],"for":[27,143],"feature":[28,94,121],"matching,":[29],"limiting":[30],"their":[31],"practical":[32],"applications.":[33],"To":[34,81],"address":[35,83],"these":[36],"challenges,":[37],"we":[38,65,89,106,126],"propose":[39,107],"an":[40],"efficient":[41],"and":[42,61,100,119,135,164],"novel":[43],"localization":[45,195],"approach":[46,184],"based":[47],"on":[48,176],"implicit":[51],"map":[52],"with":[53,148,190],"complementary":[54,133],"features.":[55,80],"Specifically,":[56],"to":[57,76,112,138],"enforce":[58],"reduce":[62],"requirements,":[64],"implicitly":[66],"learn":[67],"a":[68,156,165],"3D":[69,120],"keypoint":[70],"descriptor":[71,108],"field,":[72],"avoiding":[73],"need":[75],"explicitly":[77],"store":[78],"point-wise":[79],"further":[82],"semantic":[85,92],"ambiguity":[86],"descriptors,":[88],"introduce":[90],"additional":[91],"contextual":[93,136],"fields,":[95],"which":[96],"enhance":[97],"quality":[99],"reliability":[101],"2D-3D":[103],"correspondences.":[104],"Besides,":[105],"similarity":[109],"distribution":[110],"alignment":[111],"minimize":[113],"domain":[115],"gap":[116],"between":[117],"2D":[118],"spaces":[122],"during":[123],"matching.":[124],"Finally,":[125],"construct":[127],"matching":[129],"graph":[130],"using":[131],"both":[132],"descriptors":[134],"features":[137],"establish":[139],"accurate":[140],"2D3D":[141],"correspondences":[142],"6-DoF":[144],"pose":[145],"estimation.":[146],"Compared":[147],"recent":[150],"approaches,":[152],"our":[153,183],"method":[154],"achieves":[155],"<tex":[157,166],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[158,167],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$3":[159],"\\times$</tex>":[160,169],"faster":[161],"training":[162],"speed":[163],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$45":[168],"reduction":[170],"model":[172],"storage.":[173],"Extensive":[174],"experiments":[175],"two":[177],"widely":[178],"used":[179],"datasets":[180],"demonstrate":[181],"that":[182],"outperforms":[185],"is":[187],"highly":[188],"competitive":[189],"other":[191],"state-of-the-art":[192],"methods.":[196],"Project":[197],"page:":[198],"https://zju3dv.github.io/neuraloc":[199]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}