{"id":"https://openalex.org/W4401415720","doi":"https://doi.org/10.1109/icra57147.2024.10610903","title":"HR-APR: APR-agnostic Framework with Uncertainty Estimation and Hierarchical Refinement for Camera Relocalisation","display_name":"HR-APR: APR-agnostic Framework with Uncertainty Estimation and Hierarchical Refinement for Camera Relocalisation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415720","doi":"https://doi.org/10.1109/icra57147.2024.10610903"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610903","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/A5101745245","display_name":"Changkun Liu","orcid":"https://orcid.org/0000-0002-1880-8468"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Changkun Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Computer Science and Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Computer Science and Engineering,Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100396661","display_name":"Shuai Chen","orcid":"https://orcid.org/0000-0001-5739-9022"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shuai Chen","raw_affiliation_strings":["University of Oxford,Active Vision Laboratory,Department of Engineering Science,United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Active Vision Laboratory,Department of Engineering Science,United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078041075","display_name":"Yukun Zhao","orcid":"https://orcid.org/0000-0001-7809-640X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yukun Zhao","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Computer Science and Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Computer Science and Engineering,Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035324795","display_name":"Huajian Huang","orcid":"https://orcid.org/0000-0002-0963-1146"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Huajian Huang","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Computer Science and Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Computer Science and Engineering,Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067395390","display_name":"Victor Adrian Prisacariu","orcid":"https://orcid.org/0000-0002-0630-6129"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Victor Prisacariu","raw_affiliation_strings":["University of Oxford,Active Vision Laboratory,Department of Engineering Science,United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Active Vision Laboratory,Department of Engineering Science,United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056354484","display_name":"Tristan Braud","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tristan Braud","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Computer Science and Engineering,Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Computer Science and Engineering,Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101745245"],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":4.0568,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.94514222,"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":"8544","last_page":"8550"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9933000206947327,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9933000206947327,"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"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9902999997138977,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.98089998960495,"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/computer-science","display_name":"Computer science","score":0.6985668540000916},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.4457656145095825},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.05028802156448364}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6985668540000916},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4457656145095825},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.05028802156448364},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610903","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"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-139973","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-139973","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1989476314","https://openalex.org/W2042819305","https://openalex.org/W2200124539","https://openalex.org/W2522940611","https://openalex.org/W2584731199","https://openalex.org/W2602709638","https://openalex.org/W2605111497","https://openalex.org/W2737630486","https://openalex.org/W2740418457","https://openalex.org/W2749379418","https://openalex.org/W2771385090","https://openalex.org/W2795645133","https://openalex.org/W2798302276","https://openalex.org/W2922243907","https://openalex.org/W2962705366","https://openalex.org/W2962799344","https://openalex.org/W2963024893","https://openalex.org/W2963210849","https://openalex.org/W2964157791","https://openalex.org/W2979458572","https://openalex.org/W2985516791","https://openalex.org/W2997032998","https://openalex.org/W3035182575","https://openalex.org/W3099342433","https://openalex.org/W3114821094","https://openalex.org/W3118099906","https://openalex.org/W3137702032","https://openalex.org/W3138197200","https://openalex.org/W3195773925","https://openalex.org/W3204873281","https://openalex.org/W4225463530","https://openalex.org/W4312974334","https://openalex.org/W4327992925","https://openalex.org/W4383172027","https://openalex.org/W6631190155","https://openalex.org/W6762718338","https://openalex.org/W6801348978","https://openalex.org/W6802692370","https://openalex.org/W6850868436"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Absolute":[0],"Pose":[1],"Regressors":[2],"(APRs)":[3],"directly":[4],"estimate":[5],"camera":[6],"poses":[7],"from":[8],"monocular":[9],"images,":[10],"but":[11],"their":[12],"accuracy":[13,140],"is":[14,91],"unstable":[15],"for":[16,104],"different":[17],"queries.":[18],"Uncertainty-aware":[19],"APRs":[20],"provide":[21],"uncertainty":[22,37,68,103],"information":[23],"on":[24,84,129],"the":[25,29,75,102,109,117,130,138],"estimated":[26],"pose,":[27],"alleviating":[28],"impact":[30],"of":[31,101,111,119,126],"these":[32],"unreliable":[33],"predictions.":[34],"However,":[35],"existing":[36],"modelling":[38],"techniques":[39],"are":[40],"often":[41],"coupled":[42],"with":[43],"a":[44,61],"specific":[45],"APR":[46,56,87],"architecture,":[47,89],"resulting":[48],"in":[49,141],"suboptimal":[50],"performance":[51,110],"compared":[52],"to":[53,107],"state-of-the-art":[54],"(SOTA)":[55],"methods.":[57],"This":[58],"work":[59],"introduces":[60],"novel":[62],"APR-agnostic":[63],"framework,":[64,121],"HR-APR,":[65],"that":[66],"formulates":[67],"estimation":[69,73],"as":[70],"cosine":[71],"similarity":[72],"between":[74],"query":[76],"and":[77,93,124,132],"database":[78],"features.":[79],"It":[80],"does":[81],"not":[82],"rely":[83],"or":[85],"affect":[86],"network":[88],"which":[90],"flexible":[92],"computationally":[94],"efficient.":[95],"In":[96],"addition,":[97],"we":[98],"take":[99],"advantage":[100],"pose":[105],"refinement":[106],"enhance":[108],"APR.":[112],"The":[113],"extensive":[114],"experiments":[115],"demonstrate":[116],"effectiveness":[118],"our":[120],"reducing":[122],"27.4%":[123],"15.2%":[125],"computational":[127],"overhead":[128],"7Scenes":[131],"Cambridge":[133],"Landmarks":[134],"datasets":[135],"while":[136],"maintaining":[137],"SOTA":[139],"single-image":[142],"APRs.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}
