{"id":"https://openalex.org/W4401415767","doi":"https://doi.org/10.1109/icra57147.2024.10610727","title":"RGBD-based Image Goal Navigation with Pose Drift: A Topo-metric Graph based Approach","display_name":"RGBD-based Image Goal Navigation with Pose Drift: A Topo-metric Graph based Approach","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415767","doi":"https://doi.org/10.1109/icra57147.2024.10610727"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5096085092","display_name":"Shuhao Ye","orcid":"https://orcid.org/0009-0002-4438-3114"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuhao Ye","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027262916","display_name":"Yuxiang Cui","orcid":"https://orcid.org/0000-0001-8976-8865"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxiang Cui","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5096197844","display_name":"Hao Sha","orcid":"https://orcid.org/0000-0003-3199-0732"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Sha","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083673892","display_name":"Sha Lu","orcid":"https://orcid.org/0000-0002-5434-893X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sha Lu","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101814743","display_name":"Liang Yu","orcid":"https://orcid.org/0009-0007-3922-3454"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101528125","display_name":"Rong Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100646921","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0003-0659-181X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5096085092"],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":1.5123,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84921843,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"18391","last_page":"18397"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/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":0.703601598739624},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7015653252601624},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6374020576477051},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6300769448280334},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.6146076917648315},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.44890397787094116},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.15154686570167542},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09392568469047546}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.703601598739624},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7015653252601624},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6374020576477051},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6300769448280334},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.6146076917648315},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.44890397787094116},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.15154686570167542},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09392568469047546},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":28,"referenced_works":["https://openalex.org/W1957167950","https://openalex.org/W1999050017","https://openalex.org/W2082219174","https://openalex.org/W2107667896","https://openalex.org/W2593841437","https://openalex.org/W2953127211","https://openalex.org/W2962789679","https://openalex.org/W2962887844","https://openalex.org/W3009928773","https://openalex.org/W3011144238","https://openalex.org/W3034728521","https://openalex.org/W3095530566","https://openalex.org/W3205239453","https://openalex.org/W4220967017","https://openalex.org/W4241644338","https://openalex.org/W4285133330","https://openalex.org/W4294225490","https://openalex.org/W4303697778","https://openalex.org/W4312942802","https://openalex.org/W4382362889","https://openalex.org/W4383097417","https://openalex.org/W4385975620","https://openalex.org/W6678073246","https://openalex.org/W6725207838","https://openalex.org/W6747473740","https://openalex.org/W6748848655","https://openalex.org/W6758824984","https://openalex.org/W6774815639"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","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":{"Image-goal":[0],"navigation":[1,52,70,121],"in":[2,51,123,138],"unknown":[3,127],"environments":[4,128,140],"with":[5,91,141],"sensor":[6],"error":[7],"is":[8],"of":[9,46,126],"considerable":[10],"difficulty":[11],"for":[12,61,107],"autonomous":[13],"robots.":[14],"In":[15],"this":[16,40,65,92],"paper,":[17],"we":[18],"propose":[19],"a":[20,87,124],"drift-resisting":[21],"topo-metric":[22,66],"graph":[23,96],"to":[24,104],"map":[25,93],"the":[26,30,44,99],"environment":[27],"and":[28,80,95,110,129],"localize":[29],"robot":[31],"using":[32],"only":[33],"relative":[34],"poses.":[35],"The":[36],"error-sharing":[37],"mechanism":[38],"under":[39],"representation":[41,94],"effectively":[42],"reduces":[43],"impact":[45],"accumulated":[47],"drifts":[48],"commonly":[49],"encountered":[50],"tasks.":[53],"A":[54],"Reinforcement":[55],"Learning":[56],"based":[57],"policy":[58],"was":[59],"proposed":[60],"sub-goal":[62],"selection":[63],"on":[64],"graph,":[67],"which":[68],"improves":[69],"efficiency":[71],"by":[72],"handling":[73],"task-driven":[74],"features":[75],"taking":[76],"both":[77],"image":[78],"correlation":[79],"topological":[81],"layout":[82],"into":[83],"account.":[84],"We":[85],"adopt":[86],"modular":[88],"system":[89],"design":[90],"policy,":[97],"leaving":[98],"low-level":[100],"motion":[101],"planning":[102],"problems":[103],"classical":[105],"controllers":[106],"better":[108],"stability":[109],"generalizability.":[111],"Experimental":[112],"results":[113],"demonstrate":[114],"that":[115],"our":[116],"method":[117],"can":[118],"achieve":[119],"robust":[120],"performance":[122],"variety":[125],"even":[130],"50%":[131],"higher":[132],"success":[133],"rate":[134],"over":[135],"existing":[136],"methods":[137],"complex":[139],"odometry":[142],"drift.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}