{"id":"https://openalex.org/W4312790972","doi":"https://doi.org/10.1109/iros47612.2022.9982272","title":"LSDNet: A Lightweight Self-Attentional Distillation Network for Visual Place Recognition","display_name":"LSDNet: A Lightweight Self-Attentional Distillation Network for Visual Place Recognition","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312790972","doi":"https://doi.org/10.1109/iros47612.2022.9982272"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982272","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/A5018102527","display_name":"Guohao Peng","orcid":"https://orcid.org/0000-0001-9967-4934"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Guohao Peng","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103158590","display_name":"Yifeng Huang","orcid":"https://orcid.org/0000-0001-8548-630X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yifeng Huang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044832042","display_name":"Heshan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Heshan Li","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100773430","display_name":"Zhenyu Wu","orcid":"https://orcid.org/0000-0002-9094-4982"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhenyu Wu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083472752","display_name":"Danwei Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5018102527"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":3.338,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.95400654,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6608","last_page":"6613"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9994999766349792,"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":0.9936000108718872,"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":0.7893455028533936},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.6789088845252991},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5858868956565857},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.5598677396774292},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.48730266094207764},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4731113612651825},{"id":"https://openalex.org/keywords/distillation","display_name":"Distillation","score":0.45773980021476746},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4556988477706909},{"id":"https://openalex.org/keywords/feature-vector","display_name":"Feature vector","score":0.4133145809173584},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3744453191757202},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3648588955402374}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7893455028533936},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.6789088845252991},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5858868956565857},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.5598677396774292},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.48730266094207764},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4731113612651825},{"id":"https://openalex.org/C204030448","wikidata":"https://www.wikidata.org/wiki/Q101017","display_name":"Distillation","level":2,"score":0.45773980021476746},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4556988477706909},{"id":"https://openalex.org/C83665646","wikidata":"https://www.wikidata.org/wiki/Q42139305","display_name":"Feature vector","level":2,"score":0.4133145809173584},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3744453191757202},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3648588955402374},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"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},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982272","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":[{"display_name":"Quality Education","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1686810756","https://openalex.org/W2012592962","https://openalex.org/W2013270301","https://openalex.org/W2073761981","https://openalex.org/W2194775991","https://openalex.org/W2407386500","https://openalex.org/W2618530766","https://openalex.org/W2737075200","https://openalex.org/W2747329762","https://openalex.org/W2940791172","https://openalex.org/W2951019013","https://openalex.org/W2962705366","https://openalex.org/W2963163009","https://openalex.org/W2963507712","https://openalex.org/W2973885716","https://openalex.org/W2997164612","https://openalex.org/W3127215335","https://openalex.org/W3185622011","https://openalex.org/W3204429916","https://openalex.org/W3206514250","https://openalex.org/W3206622090","https://openalex.org/W4206627326","https://openalex.org/W4226229734","https://openalex.org/W4313016911","https://openalex.org/W4313171305","https://openalex.org/W6637373629","https://openalex.org/W6730179637","https://openalex.org/W6754870635","https://openalex.org/W6761503440","https://openalex.org/W6767943939"],"related_works":["https://openalex.org/W2180954594","https://openalex.org/W2052835778","https://openalex.org/W2049003611","https://openalex.org/W2127804977","https://openalex.org/W2108418243","https://openalex.org/W164103134","https://openalex.org/W2040545019","https://openalex.org/W2787352659","https://openalex.org/W1970611213","https://openalex.org/W4206560911"],"abstract_inverted_index":{"Visual":[0],"Place":[1],"Recognition":[2],"(VPR)":[3],"has":[4],"become":[5],"an":[6,68,120],"indispensable":[7],"capacity":[8],"for":[9],"mobile":[10],"robots":[11],"to":[12,34,55,74,90,134,147,173],"operate":[13],"in":[14,19,78,152,159],"large-scale":[15],"environments.":[16],"Existing":[17],"methods":[18],"this":[20,44],"field":[21],"mostly":[22],"focus":[23],"on":[24],"exploring":[25],"high-performance":[26],"encoding":[27,70,150,161],"strategies,":[28],"while":[29],"few":[30],"attempts":[31],"are":[32],"devoted":[33],"lightweight":[35,128,186],"models":[36],"that":[37],"balance":[38],"per-formance":[39],"and":[40,61,115,156,178],"computational":[41],"cost.":[42],"In":[43],"work,":[45],"we":[46],"propose":[47],"a":[48,65,87,127,138],"Lightweight":[49],"Self-attentional":[50],"Distillation":[51],"Network":[52],"(LSDNet)":[53],"aiming":[54],"obtain":[56],"advantages":[57],"of":[58],"both":[59,111,149],"performance":[60,66,133],"efficiency.":[62],"(1)":[63],"From":[64,119],"perspective,":[67,122],"attentional":[69],"strategy":[71,141],"is":[72,124,142,171],"proposed":[73],"integrate":[75],"crucial":[76],"information":[77,93],"the":[79,83,104,153,160,164,175,184],"scene.":[80],"It":[81,144],"extends":[82],"NetVlad":[84],"architecture":[85],"with":[86,183],"self-attention":[88],"module":[89],"facilitate":[91],"non-local":[92,112],"interaction":[94],"between":[95],"local":[96],"features.":[97],"Through":[98,167],"further":[99],"visual":[100],"word":[101],"vector":[102],"rescaling,":[103],"final":[105],"image":[106],"representation":[107],"can":[108],"benefit":[109],"from":[110,163],"spatial":[113],"integration":[114],"cluster-wise":[116],"weighting.":[117],"(2)":[118],"efficiency":[121],"LSDNet":[123,146,170],"built":[125],"upon":[126],"back-bone.":[129],"To":[130],"maintain":[131],"comparable":[132],"large":[135],"backbone":[136],"models,":[137],"dual":[139],"distillation":[140],"introduced.":[143],"prompts":[145],"learn":[148],"patterns":[151],"hidden":[154],"space":[155,162],"feature":[157],"distributions":[158],"teacher":[165,176],"model.":[166],"distillation-augmented":[168],"training,":[169],"able":[172],"rival":[174],"model":[177],"outperform":[179],"SOTA":[180],"global":[181],"representations":[182],"same":[185],"backbone.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
