{"id":"https://openalex.org/W4312644255","doi":"https://doi.org/10.1109/iros47612.2022.9981546","title":"STUN: Self-Teaching Uncertainty Estimation for Place Recognition","display_name":"STUN: Self-Teaching Uncertainty Estimation for Place Recognition","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312644255","doi":"https://doi.org/10.1109/iros47612.2022.9981546"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981546","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":true,"oa_status":"green","oa_url":"https://hdl.handle.net/20.500.11820/e3f4bad3-944b-45fd-85f0-43215daba429","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049396482","display_name":"Kaiwen Cai","orcid":"https://orcid.org/0000-0001-7988-837X"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Kaiwen Cai","raw_affiliation_strings":["University of Liverpool"],"affiliations":[{"raw_affiliation_string":"University of Liverpool","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030505775","display_name":"Chris Xiaoxuan Lu","orcid":"https://orcid.org/0000-0002-3733-4480"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chris Xiaoxuan Lu","raw_affiliation_strings":["University of Edinburgh"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020085889","display_name":"Xiaowei Huang","orcid":"https://orcid.org/0000-0001-6267-0366"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xiaowei Huang","raw_affiliation_strings":["University of Liverpool"],"affiliations":[{"raw_affiliation_string":"University of Liverpool","institution_ids":["https://openalex.org/I146655781"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049396482"],"corresponding_institution_ids":["https://openalex.org/I146655781"],"apc_list":null,"apc_paid":null,"fwci":3.9638,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.96129575,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6614","last_page":"6621"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973000288009644,"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/computer-science","display_name":"Computer science","score":0.7450420260429382},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6563321948051453},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.6174155473709106},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5520206689834595},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.533445417881012},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5281199216842651},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.4862862825393677},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.47755011916160583},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.43480414152145386},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4277498722076416},{"id":"https://openalex.org/keywords/uncertainty-quantification","display_name":"Uncertainty quantification","score":0.42747607827186584},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.41973668336868286},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.37992238998413086},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.21191731095314026}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7450420260429382},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6563321948051453},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.6174155473709106},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5520206689834595},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.533445417881012},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5281199216842651},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4862862825393677},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.47755011916160583},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.43480414152145386},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4277498722076416},{"id":"https://openalex.org/C32230216","wikidata":"https://www.wikidata.org/wiki/Q7882499","display_name":"Uncertainty quantification","level":2,"score":0.42747607827186584},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.41973668336868286},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.37992238998413086},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.21191731095314026},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros47612.2022.9981546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981546","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"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/e3f4bad3-944b-45fd-85f0-43215daba429","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/e3f4bad3-944b-45fd-85f0-43215daba429","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Cai, K, Lu, C X & Huang, X 2022, STUN: Self-Teaching Uncertainty Estimation for Place Recognition. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022 . IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers, pp. 6614-6621, The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, 23/10/22. https://doi.org/10.1109/IROS47612.2022.9981546","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/e3f4bad3-944b-45fd-85f0-43215daba429","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/e3f4bad3-944b-45fd-85f0-43215daba429","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Cai, K, Lu, C X & Huang, X 2022, STUN: Self-Teaching Uncertainty Estimation for Place Recognition. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022 . IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers, pp. 6614-6621, The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, 23/10/22. https://doi.org/10.1109/IROS47612.2022.9981546","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/e3f4bad3-944b-45fd-85f0-43215daba429","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/e3f4bad3-944b-45fd-85f0-43215daba429","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Cai, K, Lu, C X & Huang, X 2022, STUN: Self-Teaching Uncertainty Estimation for Place Recognition. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022 . IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers, pp. 6614-6621, The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, 23/10/22. https://doi.org/10.1109/IROS47612.2022.9981546","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/12","score":0.46000000834465027,"display_name":"Responsible consumption and production"},{"id":"https://metadata.un.org/sdg/2","score":0.46000000834465027,"display_name":"Zero hunger"}],"awards":[{"id":"https://openalex.org/G849311619","display_name":null,"funder_award_id":"EP/T026995/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1162411702","https://openalex.org/W1592410721","https://openalex.org/W1965197010","https://openalex.org/W2013270301","https://openalex.org/W2096733369","https://openalex.org/W2110405746","https://openalex.org/W2120766769","https://openalex.org/W2134013617","https://openalex.org/W2138621090","https://openalex.org/W2535547924","https://openalex.org/W2580440899","https://openalex.org/W2600383743","https://openalex.org/W2606377603","https://openalex.org/W2744874208","https://openalex.org/W2765767940","https://openalex.org/W2767286887","https://openalex.org/W2885052112","https://openalex.org/W2892605456","https://openalex.org/W2951019013","https://openalex.org/W2956805085","https://openalex.org/W2963024893","https://openalex.org/W2963167203","https://openalex.org/W2963350250","https://openalex.org/W2963588253","https://openalex.org/W2963708168","https://openalex.org/W2963988212","https://openalex.org/W2981482273","https://openalex.org/W2984006054","https://openalex.org/W3006751497","https://openalex.org/W3034475171","https://openalex.org/W3035376925","https://openalex.org/W3091485922","https://openalex.org/W3099719534","https://openalex.org/W3102327032","https://openalex.org/W3102961490","https://openalex.org/W3109684201","https://openalex.org/W3120082156","https://openalex.org/W3137393880","https://openalex.org/W3173736705","https://openalex.org/W3203255241","https://openalex.org/W4288598357","https://openalex.org/W4288626250","https://openalex.org/W6735443497","https://openalex.org/W6739651123","https://openalex.org/W6754822074","https://openalex.org/W6758603134","https://openalex.org/W6759341137"],"related_works":["https://openalex.org/W2580650124","https://openalex.org/W4386190339","https://openalex.org/W2968424575","https://openalex.org/W3142333283","https://openalex.org/W3122088529","https://openalex.org/W3041320102","https://openalex.org/W2111669074","https://openalex.org/W2085259108","https://openalex.org/W3123087812","https://openalex.org/W4380550836"],"abstract_inverted_index":{"Place":[0],"recognition":[1,16,44,57,178,216],"is":[2,45,139],"key":[3],"to":[4,26,49,91,120,141,164],"Simultaneous":[5],"Localization":[6],"and":[7,10,32,96,146,218],"Mapping":[8],"(SLAM)":[9],"spatial":[11],"perception.":[12],"However,":[13,59],"a":[14,46,86,111,115,131,166],"place":[15,43,56,95,167,177],"in":[17,64,169,214],"the":[18,39,51,77,94,98,127,143,148,154,161,172,184,189,203,211,219],"wild":[19],"often":[20],"suffers":[21],"from":[22],"erroneous":[23],"predictions":[24],"due":[25],"image":[27],"variations,":[28],"e.g.,":[29],"changing":[30],"viewpoints":[31],"street":[33],"appearance.":[34],"Integrating":[35],"uncertainty":[36,61,100,149,190,222],"estimation":[37,62,191],"into":[38],"life":[40],"cycle":[41],"of":[42,53,79,183,221],"promising":[47],"method":[48],"mitigate":[50],"impact":[52],"variations":[54],"on":[55,202],"performance.":[58],"existing":[60],"approaches":[63],"this":[65,106],"vein":[66],"are":[67,181],"either":[68],"computationally":[69],"inefficient":[70],"(e.g.,":[71],"Monte":[72],"Carlo":[73],"dropout)":[74],"or":[75],"at":[76],"cost":[78],"dropped":[80],"accuracy.":[81,198],"This":[82],"paper":[83],"proposes":[84],"STUN,":[85],"self-teaching":[87],"framework":[88,187],"that":[89,180,208],"learns":[90],"simultaneously":[92],"predict":[93],"estimate":[97,147],"prediction":[99,168,197],"given":[101],"an":[102,135],"input":[103],"image.":[104],"To":[105],"end,":[107],"we":[108,158],"first":[109],"train":[110],"teacher":[112,129],"net":[113,133,163],"using":[114],"standard":[116],"metric":[117],"learning":[118],"pipeline":[119],"produce":[121],"embedding":[122,144],"priors.":[123],"Then,":[124],"supervised":[125],"by":[126,151],"pretrained":[128],"net,":[130],"student":[132,162],"with":[134,171,176],"additional":[136],"variance":[137],"branch":[138],"trained":[140],"finetune":[142],"priors":[145],"sample":[150],"sample.":[152],"During":[153],"online":[155],"inference":[156],"phase,":[157],"only":[159],"use":[160],"generate":[165],"conjunction":[170],"uncertainty.":[173],"When":[174],"compared":[175],"systems":[179],"ignorant":[182],"uncertainty,":[185],"our":[186],"features":[188],"for":[192],"free":[193],"without":[194],"sacrificing":[195],"any":[196],"Our":[199],"experimental":[200],"results":[201],"large-scale":[204],"Pittsburgh30k":[205],"dataset":[206],"demonstrate":[207],"STUN":[209],"outperforms":[210],"state-of-the-art":[212],"methods":[213],"both":[215],"accuracy":[217],"quality":[220],"estimation.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}