{"id":"https://openalex.org/W4312481257","doi":"https://doi.org/10.1109/iros47612.2022.9981252","title":"InCloud: Incremental Learning for Point Cloud Place Recognition","display_name":"InCloud: Incremental Learning for Point Cloud Place Recognition","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312481257","doi":"https://doi.org/10.1109/iros47612.2022.9981252"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981252","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 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/A5041025095","display_name":"Joshua Knights","orcid":"https://orcid.org/0000-0002-1215-6956"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Joshua Knights","raw_affiliation_strings":["Robotics and Autonomous Systems, DATA61, CSIRO,Brisbane,QLD,Australia,4069","Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT), Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems, DATA61, CSIRO,Brisbane,QLD,Australia,4069","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]},{"raw_affiliation_string":"Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT), Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008586469","display_name":"Peyman Moghadam","orcid":"https://orcid.org/0000-0002-8169-3560"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Peyman Moghadam","raw_affiliation_strings":["Robotics and Autonomous Systems, DATA61, CSIRO,Brisbane,QLD,Australia,4069","Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT), Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems, DATA61, CSIRO,Brisbane,QLD,Australia,4069","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]},{"raw_affiliation_string":"Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT), Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052113515","display_name":"Milad Ramezani","orcid":"https://orcid.org/0000-0002-7529-9903"},"institutions":[{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Milad Ramezani","raw_affiliation_strings":["Robotics and Autonomous Systems, DATA61, CSIRO,Brisbane,QLD,Australia,4069"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems, DATA61, CSIRO,Brisbane,QLD,Australia,4069","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055128383","display_name":"Sridha Sridharan","orcid":"https://orcid.org/0000-0003-4316-9001"},"institutions":[{"id":"https://openalex.org/I2802348851","display_name":"Vision Australia","ror":"https://ror.org/05vje5x10","country_code":"AU","type":"nonprofit","lineage":["https://openalex.org/I2802348851"]},{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sridha Sridharan","raw_affiliation_strings":["Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT),Brisbane,Australia","Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT), Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT),Brisbane,Australia","institution_ids":["https://openalex.org/I2802348851"]},{"raw_affiliation_string":"Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT), Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034095159","display_name":"Clinton Fookes","orcid":"https://orcid.org/0000-0002-8515-6324"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I2802348851","display_name":"Vision Australia","ror":"https://ror.org/05vje5x10","country_code":"AU","type":"nonprofit","lineage":["https://openalex.org/I2802348851"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Clinton Fookes","raw_affiliation_strings":["Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT),Brisbane,Australia","Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT), Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT),Brisbane,Australia","institution_ids":["https://openalex.org/I2802348851"]},{"raw_affiliation_string":"Artificial Intelligence and Vision Technologies (SAIVT) at the Queensland University of Technology (QUT), Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5041025095"],"corresponding_institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I160993911","https://openalex.org/I42894916"],"apc_list":null,"apc_paid":null,"fwci":6.9437,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.98528209,"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":"8559","last_page":"8566"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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":0.9991000294685364,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9952999949455261,"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":0.982200026512146,"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/forgetting","display_name":"Forgetting","score":0.7714916467666626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7668520212173462},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7161005139350891},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6408898234367371},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5656572580337524},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5513814687728882},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5172691941261292},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.5146964192390442},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4588847756385803},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41992926597595215},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4152366518974304},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3392995595932007}],"concepts":[{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.7714916467666626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7668520212173462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7161005139350891},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6408898234367371},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5656572580337524},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5513814687728882},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5172691941261292},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.5146964192390442},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4588847756385803},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41992926597595215},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4152366518974304},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3392995595932007},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981252","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1972485825","https://openalex.org/W2085120503","https://openalex.org/W2115579991","https://openalex.org/W2473930607","https://openalex.org/W2558027072","https://openalex.org/W2560609797","https://openalex.org/W2560647685","https://openalex.org/W2565998037","https://openalex.org/W2620629206","https://openalex.org/W2775447965","https://openalex.org/W2786446225","https://openalex.org/W2910489334","https://openalex.org/W2948734064","https://openalex.org/W2950776302","https://openalex.org/W2963588253","https://openalex.org/W2963708168","https://openalex.org/W2964189064","https://openalex.org/W2994881679","https://openalex.org/W3030364939","https://openalex.org/W3034435444","https://openalex.org/W3035513921","https://openalex.org/W3091337047","https://openalex.org/W3098511564","https://openalex.org/W3107810305","https://openalex.org/W3120082156","https://openalex.org/W3130266661","https://openalex.org/W3157413304","https://openalex.org/W3166525903","https://openalex.org/W3171888599","https://openalex.org/W3173329083","https://openalex.org/W3175516982","https://openalex.org/W3178686235","https://openalex.org/W3187986157","https://openalex.org/W3192680689","https://openalex.org/W3199576781","https://openalex.org/W3201256746","https://openalex.org/W3202756173","https://openalex.org/W3206352917","https://openalex.org/W3207344666","https://openalex.org/W3211389689","https://openalex.org/W6729482032"],"related_works":["https://openalex.org/W4289718052","https://openalex.org/W2164121020","https://openalex.org/W2145559838","https://openalex.org/W2905319430","https://openalex.org/W3116498279","https://openalex.org/W4287549553","https://openalex.org/W3183027292","https://openalex.org/W4248896073","https://openalex.org/W2974871044","https://openalex.org/W2794885965"],"abstract_inverted_index":{"Place":[0],"recognition":[1,83,126],"is":[2,142],"a":[3,63,87,129],"fundamental":[4],"component":[5],"of":[6,16,57,76,96,131,137],"robotics,":[7],"and":[8,38,84,110,117,158],"has":[9],"seen":[10],"tremendous":[11],"improvements":[12,121],"through":[13],"the":[14,43,74,93,97,135,143],"use":[15],"deep":[17],"learning":[18,78,149],"models":[19],"in":[20,28,32,122],"recent":[21],"years.":[22],"Networks":[23],"can":[24,53,164],"experience":[25],"significant":[26],"drops":[27],"performance":[29,58,127],"when":[30],"deployed":[31],"unseen":[33],"or":[34],"highly":[35],"dynamic":[36],"environments,":[37],"require":[39],"additional":[40],"training":[41,51,157],"on":[42,49,59,107],"collected":[44],"data.":[45],"However":[46],"naively":[47],"fine-tuning":[48],"new":[50,105],"distributions":[52],"cause":[54],"severe":[55],"degradation":[56],"previously":[60],"visited":[61],"domains,":[62],"phenomenon":[64],"known":[65],"as":[66],"catastrophic":[67],"forgetting.":[68],"In":[69],"this":[70,140,162],"paper":[71,163],"we":[72],"address":[73],"problem":[75],"incremental":[77,148],"for":[79,150,161],"point":[80,123,151],"cloud":[81,124,152],"place":[82,125,153],"introduce":[85,102],"InCloud,":[86],"structure-aware":[88],"distillation-based":[89],"approach":[90],"which":[91],"preserves":[92],"higher-order":[94],"structure":[95],"network's":[98],"embedding":[99],"space.":[100],"We":[101],"several":[103],"challenging":[104],"benchmarks":[106],"four":[108],"popular":[109],"large-scale":[111],"LiDAR":[112],"datasets":[113],"(Oxford,":[114],"MulRan,":[115],"In-house":[116],"KITTI)":[118],"showing":[119],"broad":[120],"over":[128],"variety":[130],"network":[132],"architectures.":[133],"To":[134],"best":[136],"our":[138],"knowledge,":[139],"work":[141],"first":[144],"to":[145],"effectively":[146],"apply":[147],"recognition.":[154],"Data":[155],"pre-processing,":[156],"evaluation":[159],"code":[160],"be":[165],"found":[166],"at":[167],"https://github.com/csiro-robotics/InCloud.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1}],"updated_date":"2026-01-14T23:40:02.550235","created_date":"2025-10-10T00:00:00"}
