{"id":"https://openalex.org/W2551882301","doi":"https://doi.org/10.1109/ijcnn.2016.7727550","title":"Sequential appearance-based Global Localization using an ensemble of kNN-DTW classifiers","display_name":"Sequential appearance-based Global Localization using an ensemble of kNN-DTW classifiers","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2551882301","doi":"https://doi.org/10.1109/ijcnn.2016.7727550","mag":"2551882301"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn.2016.7727550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn.2016.7727550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 International Joint Conference on Neural Networks (IJCNN)","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/A5085956475","display_name":"Avelino Forechi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210160371","display_name":"Instituto Federal do Esp\u00edrito Santo","ror":"https://ror.org/05rshs160","country_code":"BR","type":"funder","lineage":["https://openalex.org/I4210160371"]},{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Avelino Forechi","raw_affiliation_strings":["Coordenadoria de Engenharia Mec\u00e2nica, Instituto Federal do Esp\u00edrito Santo Aracruz, Esp\u00edrito Santo, Brazil","Departamento de Inform\u00e1tica \u2014 Centro Tecnol\u00f3gico, Universidade Federal do Esp\u00edrito Santo Vit6ria, Espfrito Santo, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordenadoria de Engenharia Mec\u00e2nica, Instituto Federal do Esp\u00edrito Santo Aracruz, Esp\u00edrito Santo, Brazil","institution_ids":["https://openalex.org/I4210160371"]},{"raw_affiliation_string":"Departamento de Inform\u00e1tica \u2014 Centro Tecnol\u00f3gico, Universidade Federal do Esp\u00edrito Santo Vit6ria, Espfrito Santo, Brazil","institution_ids":["https://openalex.org/I51235708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005735333","display_name":"Alberto F. De Souza","orcid":"https://orcid.org/0000-0003-1561-8447"},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Alberto Ferreira De Souza","raw_affiliation_strings":["Departamento de Inform\u00e1tica \u2014 Centro Tecnol\u00f3gico, Universidade Federal do Esp\u00edrito Santo Vit6ria, Espfrito Santo, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica \u2014 Centro Tecnol\u00f3gico, Universidade Federal do Esp\u00edrito Santo Vit6ria, Espfrito Santo, Brazil","institution_ids":["https://openalex.org/I51235708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056260430","display_name":"Claudine Badu\u00e9","orcid":"https://orcid.org/0000-0003-1810-8581"},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Claudine Badue","raw_affiliation_strings":["Departamento de Inform\u00e1tica \u2014 Centro Tecnol\u00f3gico, Universidade Federal do Esp\u00edrito Santo Vit6ria, Espfrito Santo, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica \u2014 Centro Tecnol\u00f3gico, Universidade Federal do Esp\u00edrito Santo Vit6ria, Espfrito Santo, Brazil","institution_ids":["https://openalex.org/I51235708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037893575","display_name":"Thiago Oliveira-Santos","orcid":"https://orcid.org/0000-0001-7607-635X"},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Thiago Oliveira-Santos","raw_affiliation_strings":["Departamento de Inform\u00e1tica \u2014 Centro Tecnol\u00f3gico, Universidade Federal do Esp\u00edrito Santo Vit6ria, Espfrito Santo, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica \u2014 Centro Tecnol\u00f3gico, Universidade Federal do Esp\u00edrito Santo Vit6ria, Espfrito Santo, Brazil","institution_ids":["https://openalex.org/I51235708"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"2782","last_page":"2789"},"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9915000200271606,"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/dynamic-time-warping","display_name":"Dynamic time warping","score":0.8543762564659119},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7642581462860107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6960846185684204},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.6153034567832947},{"id":"https://openalex.org/keywords/hamming-distance","display_name":"Hamming distance","score":0.6060554385185242},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5964177846908569},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4822309911251068},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4715483486652374},{"id":"https://openalex.org/keywords/binary-classification","display_name":"Binary classification","score":0.44012072682380676},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.43598243594169617},{"id":"https://openalex.org/keywords/hamming-code","display_name":"Hamming code","score":0.41133785247802734},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23084405064582825},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.21118223667144775},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17627742886543274}],"concepts":[{"id":"https://openalex.org/C88516994","wikidata":"https://www.wikidata.org/wiki/Q1268863","display_name":"Dynamic time warping","level":2,"score":0.8543762564659119},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7642581462860107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6960846185684204},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.6153034567832947},{"id":"https://openalex.org/C193319292","wikidata":"https://www.wikidata.org/wiki/Q272172","display_name":"Hamming distance","level":2,"score":0.6060554385185242},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5964177846908569},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4822309911251068},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4715483486652374},{"id":"https://openalex.org/C66905080","wikidata":"https://www.wikidata.org/wiki/Q17005494","display_name":"Binary classification","level":3,"score":0.44012072682380676},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.43598243594169617},{"id":"https://openalex.org/C73150493","wikidata":"https://www.wikidata.org/wiki/Q853922","display_name":"Hamming code","level":4,"score":0.41133785247802734},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23084405064582825},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.21118223667144775},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17627742886543274},{"id":"https://openalex.org/C157125643","wikidata":"https://www.wikidata.org/wiki/Q884707","display_name":"Block code","level":3,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn.2016.7727550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn.2016.7727550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"},{"id":"https://openalex.org/F4320323682","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa e Inova\u00e7\u00e3o do Esp\u00edrito Santo","ror":"https://ror.org/03cen2c33"},{"id":"https://openalex.org/F4320331556","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W145647971","https://openalex.org/W158935038","https://openalex.org/W170732776","https://openalex.org/W1498689810","https://openalex.org/W1513241879","https://openalex.org/W1827931572","https://openalex.org/W1970006557","https://openalex.org/W1974093076","https://openalex.org/W1982948584","https://openalex.org/W1991585705","https://openalex.org/W2030987944","https://openalex.org/W2052515926","https://openalex.org/W2068289541","https://openalex.org/W2095761085","https://openalex.org/W2109197213","https://openalex.org/W2110405746","https://openalex.org/W2112669647","https://openalex.org/W2119605622","https://openalex.org/W2131846894","https://openalex.org/W2144225695","https://openalex.org/W2144824356","https://openalex.org/W2161338791","https://openalex.org/W2161831889","https://openalex.org/W2209103479","https://openalex.org/W2284029970","https://openalex.org/W2293047233","https://openalex.org/W2293882161","https://openalex.org/W2336416123","https://openalex.org/W2505763307","https://openalex.org/W3041214984","https://openalex.org/W6606489739","https://openalex.org/W6688243521","https://openalex.org/W6695582405"],"related_works":["https://openalex.org/W2943247777","https://openalex.org/W2740543340","https://openalex.org/W2371167013","https://openalex.org/W1582340598","https://openalex.org/W1541021634","https://openalex.org/W2779867339","https://openalex.org/W2794545997","https://openalex.org/W2584980534","https://openalex.org/W2182731056","https://openalex.org/W66917582"],"abstract_inverted_index":{"The":[0],"human":[1],"Episodic":[2,38],"Memory":[3,39],"system":[4,40,175],"stores":[5],"sequences":[6,102],"of":[7,80,103,128,146,148,222,234],"events":[8],"(episodes":[9],"encoded":[10],"in":[11,14,28,31,49,56,114,167,204,210],"time":[12,168],"and":[13,92,118,130,152,169],"space)":[15],"experienced":[16,136,158],"or":[17,30],"imagined":[18],"by":[19,36,54,137],"an":[20,78,138,230],"individual":[21],"for":[22,46],"later":[23],"access":[24],"to":[25,67,96,108,155,161,227],"the":[26,68,87,93,110,149,163,174,177,235],"episodes":[27,135],"whole":[29],"part.":[32],"Such":[33],"ability":[34],"provided":[35],"our":[37,47],"is":[41,60,75,106,123,187,225],"important,":[42],"among":[43],"other":[44],"functions,":[45],"localization":[48,112],"space":[50,170],"throughout":[51],"time.":[52,236],"Inspired":[53],"that,":[55],"this":[57],"paper,":[58],"it":[59,122,143,180],"presented":[61],"a":[62,126,190,219],"new":[63],"Sequential":[64],"Appearance-Based":[65],"approach":[66],"Global":[69],"Localization":[70],"problem,":[71],"dubbed":[72],"SABGL.":[73],"SABGL":[74,105,186,200,224],"based":[76],"on":[77],"ensemble":[79],"kNN":[81],"classifiers,":[82],"where":[83,179],"each":[84],"classifier":[85],"uses":[86],"Dynamic":[88],"Time":[89],"Warping":[90],"(DTW)":[91],"Hamming":[94],"distance":[95,213],"compare":[97],"binary":[98],"features":[99],"extracted":[100],"from":[101],"images.":[104],"designed":[107],"solve":[109],"global":[111],"problem":[113],"two":[115],"phases:":[116],"mapping":[117],"localization.":[119],"During":[120,141],"mapping,":[121],"trained":[124],"with":[125,189,207],"sequence":[127],"images":[129,147,183],"associated":[131],"locations":[132],"that":[133,199],"represents":[134],"autonomous":[139,231],"robot.":[140],"localization,":[142],"receives":[144],"subsequences":[145],"same":[150],"environment":[151],"compares":[153],"them":[154],"its":[156],"previous":[157,191],"episodes,":[159],"trying":[160],"recollect":[162],"most":[164],"similar":[165],"\u201cexperience\u201d":[166],"at":[171],"once.":[172],"Then,":[173],"outputs":[176],"positions":[178],"\u201cbelieves\u201d":[181],"these":[182],"were":[184],"captured.":[185],"compared":[188],"single-image":[192],"approach,":[193],"named":[194],"VibGL.":[195],"Experimental":[196],"results":[197],"show":[198],"consistently":[201],"outperforms":[202],"VibGL":[203],"classification":[205],"accuracy":[206],"higher":[208],"precision":[209],"all":[211],"maximum":[212,220],"tolerance":[214,221],"analyzed.":[215],"For":[216],"instance,":[217],"given":[218],"10m,":[223],"able":[226],"correctly":[228],"localize":[229],"car":[232],"98%":[233]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}