{"id":"https://openalex.org/W3206222126","doi":"https://doi.org/10.1109/iros51168.2021.9635886","title":"Robust and Long-term Monocular Teach and Repeat Navigation using a Single-experience Map","display_name":"Robust and Long-term Monocular Teach and Repeat Navigation using a Single-experience Map","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3206222126","doi":"https://doi.org/10.1109/iros51168.2021.9635886","mag":"3206222126"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635886","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.whiterose.ac.uk/168162/7/Day2Night_Navigation__IROS21___new_.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101629398","display_name":"Li Sun","orcid":"https://orcid.org/0000-0002-0393-8665"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Li Sun","raw_affiliation_strings":["Sheffield Robotics, University of Sheffield, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sheffield Robotics, University of Sheffield, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022668729","display_name":"Marwan Taher","orcid":null},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Marwan Taher","raw_affiliation_strings":["Sheffield Robotics, University of Sheffield, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sheffield Robotics, University of Sheffield, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043239257","display_name":"Christopher P. Wild","orcid":"https://orcid.org/0000-0003-0249-8669"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christopher Wild","raw_affiliation_strings":["Sheffield Robotics, University of Sheffield, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sheffield Robotics, University of Sheffield, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077789334","display_name":"Cheng Zhao","orcid":"https://orcid.org/0000-0001-8502-3233"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Cheng Zhao","raw_affiliation_strings":["University of Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100433581","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0002-5848-8892"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Harbin Institute of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017562237","display_name":"Filip Majer","orcid":"https://orcid.org/0000-0002-4921-3360"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Filip Majer","raw_affiliation_strings":["Czech Technical University in Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008360393","display_name":"Zhi Yan","orcid":"https://orcid.org/0000-0001-8251-9786"},"institutions":[{"id":"https://openalex.org/I177064439","display_name":"Universit\u00e9 de Bourgogne","ror":"https://ror.org/03k1bsr36","country_code":"FR","type":"education","lineage":["https://openalex.org/I177064439"]},{"id":"https://openalex.org/I37553959","display_name":"Universit\u00e9 de technologie de belfort-montb\u00e9liard","ror":"https://ror.org/05bn3m307","country_code":"FR","type":"education","lineage":["https://openalex.org/I37553959"]},{"id":"https://openalex.org/I4387153146","display_name":"Connaissance & Intelligence Artificielle Distribu\u00e9es","ror":"https://ror.org/01ch21j41","country_code":"FR","type":"facility","lineage":["https://openalex.org/I37553959","https://openalex.org/I4387153146","https://openalex.org/I4405253280"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Zhi Yan","raw_affiliation_strings":["CIAD UMR7533, Univ. Bourgogne Franche-Comt\u00e9, UTBM, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CIAD UMR7533, Univ. Bourgogne Franche-Comt\u00e9, UTBM, France","institution_ids":["https://openalex.org/I177064439","https://openalex.org/I37553959","https://openalex.org/I4387153146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082772824","display_name":"Tom\u00e1\u0161 Krajn\u00edk","orcid":"https://orcid.org/0000-0002-4408-7916"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Tomas Krajnik","raw_affiliation_strings":["Czech Technical University in Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013009407","display_name":"Tony J. Prescott","orcid":"https://orcid.org/0000-0003-4927-5390"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tony Prescott","raw_affiliation_strings":["Sheffield Robotics, University of Sheffield, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sheffield Robotics, University of Sheffield, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088202291","display_name":"Tom Duckett","orcid":"https://orcid.org/0000-0003-2971-7905"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tom Duckett","raw_affiliation_strings":["L-CAS, University of Lincoln, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"L-CAS, University of Lincoln, UK","institution_ids":["https://openalex.org/I51532219"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.4829,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.97481026,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2635","last_page":"2642"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9980000257492065,"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/robustness","display_name":"Robustness (evolution)","score":0.870182991027832},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.8233903646469116},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.748335063457489},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7026824951171875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6694036722183228},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4907418489456177},{"id":"https://openalex.org/keywords/single-camera","display_name":"Single camera","score":0.46961551904678345},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.46485981345176697},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.41457223892211914}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.870182991027832},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.8233903646469116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.748335063457489},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7026824951171875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6694036722183228},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4907418489456177},{"id":"https://openalex.org/C3018868555","wikidata":"https://www.wikidata.org/wiki/Q2918907","display_name":"Single camera","level":2,"score":0.46961551904678345},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.46485981345176697},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.41457223892211914},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9635886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635886","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:168162","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.whiterose.ac.uk/168162/7/Day2Night_Navigation__IROS21___new_.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"}],"best_oa_location":{"id":"pmh:oai:eprints.whiterose.ac.uk:168162","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.whiterose.ac.uk/168162/7/Day2Night_Navigation__IROS21___new_.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"},"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320006","display_name":"Royal Society","ror":"https://ror.org/03wnrjx87"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3206222126.pdf","grobid_xml":"https://content.openalex.org/works/W3206222126.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1033316025","https://openalex.org/W1596812151","https://openalex.org/W2003919215","https://openalex.org/W2006368361","https://openalex.org/W2007079389","https://openalex.org/W2019085623","https://openalex.org/W2021851106","https://openalex.org/W2052742500","https://openalex.org/W2062858132","https://openalex.org/W2096733369","https://openalex.org/W2102127923","https://openalex.org/W2107145440","https://openalex.org/W2114766649","https://openalex.org/W2141139095","https://openalex.org/W2143824592","https://openalex.org/W2151103935","https://openalex.org/W2160685053","https://openalex.org/W2361494151","https://openalex.org/W2412846155","https://openalex.org/W2550031512","https://openalex.org/W2561611286","https://openalex.org/W2736621623","https://openalex.org/W2766210453","https://openalex.org/W2804394440","https://openalex.org/W2889859843","https://openalex.org/W2931930306","https://openalex.org/W2963341249","https://openalex.org/W2963733582","https://openalex.org/W2979458572","https://openalex.org/W3003652081","https://openalex.org/W3009931536","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3083391807","https://openalex.org/W3099206234","https://openalex.org/W3208212378","https://openalex.org/W4230475428","https://openalex.org/W6747043499","https://openalex.org/W6752208963"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W4391053327","https://openalex.org/W2995270189","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W2091635186","https://openalex.org/W4381188157","https://openalex.org/W4251947321","https://openalex.org/W2011626633","https://openalex.org/W2037866696"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,35,80,98],"robust":[4],"monocular":[5],"visual":[6,64],"teach-and-repeat":[7],"(VT&R)":[8],"navigation":[9,44,78,102,110],"system":[10,117],"for":[11,42],"long-term":[12],"operation":[13],"in":[14,45,55,104],"outdoor":[15,46,106],"environments.":[16,47],"The":[17,120],"approach":[18,75,126],"leverages":[19],"deep-learned":[20],"descriptors":[21],"to":[22,61,86,129,135],"deal":[23],"with":[24,53,66,133],"the":[25,30,51,63,67,70,115,130],"high":[26],"illumination":[27],"variance":[28],"of":[29,69,101,114],"real":[31],"world.":[32],"In":[33],"particular,":[34],"tailored":[36],"self-supervised":[37],"descriptor,":[38],"DarkPoint,":[39],"is":[40,59,84,127],"proposed":[41,116],"autonomous":[43],"We":[48],"seamlessly":[49],"integrate":[50],"localisation":[52],"control,":[54],"which":[56],"proportional\u2013integral":[57],"control":[58],"used":[60],"eliminate":[62],"error":[65],"pitfall":[68],"unknown":[71],"depth.":[72],"Consequently,":[73],"our":[74,94,125],"achieves":[76],"day-to-night":[77],"using":[79],"single-experience":[81],"map":[82],"and":[83,89,112,137],"able":[85],"repeat":[87],"complex":[88],"fast":[90],"manoeuvres.":[91],"To":[92],"verify":[93],"approach,":[95],"we":[96],"performed":[97],"vast":[99],"array":[100],"experiments":[103],"various":[105],"environments,":[107],"where":[108],"both":[109],"accuracy":[111,136],"robustness":[113],"are":[118],"investigated.":[119],"experimental":[121],"results":[122],"show":[123],"that":[124],"superior":[128],"baseline":[131],"method":[132],"regards":[134],"robustness.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}