{"id":"https://openalex.org/W3099375963","doi":"https://doi.org/10.1109/iecon43393.2020.9254941","title":"Towards Robust Localization Deep Feature Extraction by CNN","display_name":"Towards Robust Localization Deep Feature Extraction by CNN","publication_year":2020,"publication_date":"2020-10-18","ids":{"openalex":"https://openalex.org/W3099375963","doi":"https://doi.org/10.1109/iecon43393.2020.9254941","mag":"3099375963"},"language":"en","primary_location":{"id":"doi:10.1109/iecon43393.2020.9254941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon43393.2020.9254941","pdf_url":null,"source":{"id":"https://openalex.org/S4363608618","display_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","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/A5078027652","display_name":"Erik Carlbaum","orcid":null},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Erik Carlbaum","raw_affiliation_strings":["Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023682583","display_name":"Sina Sharif Mansouri","orcid":"https://orcid.org/0000-0001-7631-002X"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Sina Sharif Mansouri","raw_affiliation_strings":["Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039277979","display_name":"Christoforos Kanellakis","orcid":"https://orcid.org/0000-0001-8870-6718"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christoforos Kanellakis","raw_affiliation_strings":["Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058420833","display_name":"Anton Koval","orcid":"https://orcid.org/0000-0001-8235-2728"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anton Koval","raw_affiliation_strings":["Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064878830","display_name":"George Nikolakopoulos","orcid":"https://orcid.org/0000-0003-0126-1897"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5078027652"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":null,"apc_paid":null,"fwci":0.5045,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5728552,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"807","last_page":"812"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9972000122070312,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8357142210006714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7561225295066833},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.7490266561508179},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6836990118026733},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6149078607559204},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6111476421356201},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4968397915363312},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4884268343448639},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4513411521911621},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30658137798309326},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20063823461532593}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8357142210006714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7561225295066833},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.7490266561508179},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6836990118026733},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6149078607559204},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6111476421356201},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4968397915363312},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4884268343448639},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4513411521911621},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30658137798309326},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20063823461532593},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon43393.2020.9254941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon43393.2020.9254941","pdf_url":null,"source":{"id":"https://openalex.org/S4363608618","display_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1677409904","https://openalex.org/W1686810756","https://openalex.org/W1912954554","https://openalex.org/W2109635530","https://openalex.org/W2111308925","https://openalex.org/W2111589119","https://openalex.org/W2117228865","https://openalex.org/W2124404372","https://openalex.org/W2130103520","https://openalex.org/W2133059825","https://openalex.org/W2146020873","https://openalex.org/W2151103935","https://openalex.org/W2163605009","https://openalex.org/W2201290997","https://openalex.org/W2608018532","https://openalex.org/W2619522967","https://openalex.org/W2753041493","https://openalex.org/W2804523126","https://openalex.org/W2899224788","https://openalex.org/W2913429812","https://openalex.org/W2915071212","https://openalex.org/W2921521985","https://openalex.org/W2994627688","https://openalex.org/W3003612396","https://openalex.org/W3006295588","https://openalex.org/W3108548751","https://openalex.org/W6637373629","https://openalex.org/W6679388247","https://openalex.org/W6684191040"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W4390187686","https://openalex.org/W2787146399","https://openalex.org/W2111152968","https://openalex.org/W2583798032"],"abstract_inverted_index":{"Robust":[0],"localization":[1],"is":[2,23,102,148,168,178],"a":[3,60,69,89,115,119,137],"fundamental":[4],"capability":[5],"to":[6,55,77,180],"increase":[7],"the":[8,24,32,45,95,104,108,145,155,166,176,181],"autonomy":[9],"levels":[10],"of":[11,28,52,97,126,141,154],"robotic":[12],"platforms.":[13],"A":[14],"core":[15],"processing":[16],"step":[17],"in":[18,31,39,94,136,161],"vision":[19],"based":[20],"odometry":[21],"methods":[22],"extraction":[25,173],"and":[26,80,113,165],"tracking":[27,92],"distinctive":[29],"features":[30],"image":[33,106],"frame.":[34],"Nevertheless,":[35],"when":[36],"deploying":[37],"robots":[38],"challenging":[40],"environments":[41],"like":[42],"underground":[43,163],"tunnels,":[44],"sensor":[46],"measurements":[47],"are":[48,130],"noisy":[49],"with":[50,150,170],"lack":[51],"information":[53],"due":[54],"low":[56],"light":[57],"conditions,":[58],"introducing":[59],"bottleneck":[61],"for":[62],"feature":[63,83,91,116,123,127,142,172],"detection":[64],"methods.":[65],"This":[66,122],"paper":[67],"proposes":[68],"deep":[70],"classifier":[71],"Convolutional":[72],"Neural":[73],"Network":[74],"(CNN)":[75],"architecture":[76],"retain":[78],"detailed":[79],"noise":[81,177],"tolerant":[82],"maps":[84],"from":[85],"RBG":[86],"images,":[87],"establishing":[88],"novel":[90],"scheme":[93],"context":[96],"localization.":[98],"The":[99],"proposed":[100,146],"method":[101,147],"feeding":[103],"RGB":[105,151],"into":[107],"AlexNet":[109],"or":[110],"VGG-16":[111],"network":[112],"extracts":[114],"map":[117,124],"at":[118],"specific":[120],"layer.":[121],"consists":[125],"points":[128],"which":[129],"then":[131],"paired":[132],"between":[133],"frames":[134],"resulting":[135],"discrete":[138],"vector":[139],"field":[140],"change.":[143],"Finally,":[144],"evaluated":[149],"camera":[152],"footage":[153],"Micro":[156],"Aerial":[157],"Vehicle":[158],"(MAV)":[159],"flights":[160],"dark":[162],"mines":[164],"performance":[167],"compared":[169],"existing":[171],"methods,":[174],"while":[175],"added":[179],"images.":[182]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}