{"id":"https://openalex.org/W3132290718","doi":"https://doi.org/10.1109/iros45743.2020.9340974","title":"Active Perception for Outdoor Localisation with an Omnidirectional Camera","display_name":"Active Perception for Outdoor Localisation with an Omnidirectional Camera","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132290718","doi":"https://doi.org/10.1109/iros45743.2020.9340974","mag":"3132290718"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340974","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5061233956","display_name":"Maleen Jayasuriya","orcid":"https://orcid.org/0000-0002-9455-5001"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Maleen Jayasuriya","raw_affiliation_strings":["Centre for Autonomous Systems (CAS), University of Technology, Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems (CAS), University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088672153","display_name":"Ravindra Ranasinghe","orcid":"https://orcid.org/0000-0002-3785-3723"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ravindra Ranasinghe","raw_affiliation_strings":["Centre for Autonomous Systems (CAS), University of Technology, Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems (CAS), University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091185859","display_name":"Gamini Dissanayake","orcid":"https://orcid.org/0000-0002-7992-0680"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gamini Dissanayake","raw_affiliation_strings":["Centre for Autonomous Systems (CAS), University of Technology, Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems (CAS), University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5061233956"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":4.8322,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.94484488,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4567","last_page":"4574"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.758243203163147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7353887557983398},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7321947813034058},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.6095262169837952},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5433897972106934},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5300498008728027},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5242217779159546},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.49932193756103516},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.48329952359199524},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.47003620862960815},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.4648992121219635},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.41428154706954956},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3080196976661682},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3027527332305908},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.29255014657974243}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.758243203163147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7353887557983398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7321947813034058},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.6095262169837952},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5433897972106934},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5300498008728027},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5242217779159546},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.49932193756103516},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.48329952359199524},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.47003620862960815},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.4648992121219635},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.41428154706954956},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3080196976661682},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3027527332305908},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.29255014657974243},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340974","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W845365781","https://openalex.org/W1514716220","https://openalex.org/W1612997784","https://openalex.org/W1765141538","https://openalex.org/W1974026014","https://openalex.org/W2048500680","https://openalex.org/W2099987996","https://openalex.org/W2111695099","https://openalex.org/W2129714318","https://openalex.org/W2136652372","https://openalex.org/W2160122897","https://openalex.org/W2202251471","https://openalex.org/W2284029970","https://openalex.org/W2299529128","https://openalex.org/W2411681238","https://openalex.org/W2474281075","https://openalex.org/W2476752140","https://openalex.org/W2535547924","https://openalex.org/W2564804471","https://openalex.org/W2570343428","https://openalex.org/W2610051611","https://openalex.org/W2741141082","https://openalex.org/W2745859992","https://openalex.org/W2773164735","https://openalex.org/W2774868901","https://openalex.org/W2775287564","https://openalex.org/W2788785353","https://openalex.org/W2791639158","https://openalex.org/W2796347433","https://openalex.org/W2808571300","https://openalex.org/W2809451359","https://openalex.org/W2896783770","https://openalex.org/W2898231767","https://openalex.org/W2905509562","https://openalex.org/W2909063396","https://openalex.org/W2909178302","https://openalex.org/W2913364635","https://openalex.org/W2963786102","https://openalex.org/W2963795538","https://openalex.org/W2966985372","https://openalex.org/W2967109249","https://openalex.org/W2967389308","https://openalex.org/W2968852384","https://openalex.org/W2971344836","https://openalex.org/W2989631688","https://openalex.org/W2989633716","https://openalex.org/W3090386798","https://openalex.org/W3091221860","https://openalex.org/W3102327032","https://openalex.org/W3103648783","https://openalex.org/W3104255671","https://openalex.org/W3106458387","https://openalex.org/W4288245279","https://openalex.org/W4293584584","https://openalex.org/W6675080091","https://openalex.org/W6683559653","https://openalex.org/W6750227808","https://openalex.org/W6758162286","https://openalex.org/W6767359532"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"This":[0,151],"paper":[1],"presents":[2],"a":[3,37,81,116,131,224,237,244],"novel":[4],"localisation":[5,159,222],"framework":[6,43,129,205],"based":[7,144],"on":[8,88,207,223],"an":[9,45,57,70,124,217],"omnidirectional":[10,71],"camera,":[11,72],"targeted":[12],"at":[13],"outdoor":[14],"urban":[15,246],"environments.":[16],"Bearing":[17],"only":[18,158],"information":[19,46],"to":[20,49,54,59,75,97,102,155,163,192,219,250],"persistent":[21,209],"and":[22,32,111,139,172,199,233,252],"easily":[23],"observable":[24],"high-level":[25,103],"semantic":[26,210],"landmarks":[27,138],"(such":[28,179],"as":[29,56,106,180],"lamp-posts,":[30],"street-signs":[31],"trees)":[33],"are":[34,93,248],"perceived":[35],"using":[36,130,236],"Convolutional":[38],"Neural":[39],"Network":[40],"(CNN).":[41],"The":[42],"utilises":[44],"theoretic":[47],"strategy":[48],"decide":[50],"the":[51,60,64,77,136,147,203,213,254,257,264],"best":[52],"viewpoint":[53],"serve":[55],"input":[58],"CNN":[61],"instead":[62],"of":[63,79,84,135,146,212,256,263],"full":[65],"360\u00b0":[66],"coverage":[67],"offered":[68],"by":[69],"in":[73,123,153,243],"order":[74],"leverage":[76],"advantage":[78],"having":[80],"higher":[82],"field":[83],"view":[85],"without":[86],"compromising":[87],"performance.":[89],"Environmental":[90],"landmark":[91],"observations":[92,96],"supplemented":[94],"with":[95],"ground":[98,148],"surface":[99,149],"boundaries":[100],"corresponding":[101],"features":[104,178,211],"such":[105],"manhole":[107],"covers,":[108],"pavement":[109],"edges":[110],"lane":[112],"markings":[113],"extracted":[114],"from":[115],"second":[117],"CNN.":[118],"Localisation":[119,171],"is":[120,152,228],"carried":[121],"out":[122,165,221],"Extended":[125],"Kalman":[126],"Filter":[127],"(EKF)":[128],"sparse":[132],"2D":[133],"map":[134],"environmental":[137],"Vector":[140],"Distance":[141],"Transform":[142],"(VDT)":[143],"representation":[145],"boundaries.":[150],"contrast":[154],"traditional":[156],"vision":[157],"systems":[160],"that":[161],"have":[162],"carry":[164,220],"Visual":[166],"Odometry":[167],"(VO)":[168],"or":[169],"Simultaneous":[170],"Mapping":[173],"(SLAM),":[174],"since":[175],"low":[176],"level":[177],"SIFT,":[181],"SURF,":[182],"ORB)":[183],"do":[184],"not":[185],"persist":[186],"over":[187],"long":[188],"time":[189],"frames":[190],"due":[191],"radical":[193],"appearance":[194],"changes":[195],"(illumination,":[196],"occlusions":[197],"etc)":[198],"dynamic":[200],"objects.":[201],"As":[202],"proposed":[204,258],"relies":[206],"highlevel":[208],"environment,":[214],"it":[215],"offers":[216],"opportunity":[218],"prebuilt":[225],"map,":[226],"which":[227],"significantly":[229],"more":[230],"resource":[231],"efficient":[232],"robust.":[234],"Experiments":[235],"Personal":[238],"Mobility":[239],"Device":[240],"(PMD)":[241],"driven":[242],"representative":[245],"environment":[247],"presented":[249],"demonstrate":[251],"evaluate":[253],"effectiveness":[255],"localiser":[259],"against":[260],"relevant":[261],"state":[262],"art":[265],"techniques.":[266]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
