{"id":"https://openalex.org/W4389666239","doi":"https://doi.org/10.1109/iros55552.2023.10341635","title":"Locking On: Leveraging Dynamic Vehicle-Imposed Motion Constraints to Improve Visual Localization","display_name":"Locking On: Leveraging Dynamic Vehicle-Imposed Motion Constraints to Improve Visual Localization","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666239","doi":"https://doi.org/10.1109/iros55552.2023.10341635"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341635","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5017083048","display_name":"Stephen Hausler","orcid":"https://orcid.org/0000-0003-0092-0096"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","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":"Stephen Hausler","raw_affiliation_strings":["CSIRO Data61"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIRO Data61","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089947531","display_name":"Sourav Garg","orcid":"https://orcid.org/0000-0001-6068-3307"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sourav Garg","raw_affiliation_strings":["QUT Centre for Robotics, School of Electrical Engineering and Robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"QUT Centre for Robotics, School of Electrical Engineering and Robotics","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I4403386650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045185635","display_name":"Punarjay Chakravarty","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Punarjay Chakravarty","raw_affiliation_strings":["Ford Motor Company"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Motor Company","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102963833","display_name":"Shubham Shrivastava","orcid":"https://orcid.org/0000-0001-6610-7597"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shubham Shrivastava","raw_affiliation_strings":["Ford Motor Company"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Motor Company","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048934924","display_name":"Ankit Vora","orcid":"https://orcid.org/0000-0001-7976-8730"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ankit Vora","raw_affiliation_strings":["Ford Motor Company"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Motor Company","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["QUT Centre for Robotics, School of Electrical Engineering and Robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"QUT Centre for Robotics, School of Electrical Engineering and Robotics","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I4403386650"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.781,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.86010878,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"31","issue":null,"first_page":"5258","last_page":"5265"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9937000274658203,"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-vision","display_name":"Computer vision","score":0.7559610605239868},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7267346382141113},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6798954010009766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6788230538368225},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.593900740146637},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.49840736389160156},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.49490684270858765},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.48093336820602417},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.47817331552505493},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.42527374625205994},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4128720164299011},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.198401540517807},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.15691769123077393}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7559610605239868},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7267346382141113},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6798954010009766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6788230538368225},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.593900740146637},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.49840736389160156},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.49490684270858765},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.48093336820602417},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.47817331552505493},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.42527374625205994},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4128720164299011},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.198401540517807},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.15691769123077393},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341635","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1927727213","display_name":null,"funder_award_id":"FL210100156","funder_id":"https://openalex.org/F4320320983","funder_display_name":"Queensland University of Technology"},{"id":"https://openalex.org/G8050067294","display_name":null,"funder_award_id":"FL210100156","funder_id":"https://openalex.org/F4320309480","funder_display_name":"Nvidia"}],"funders":[{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"},{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320320983","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":69,"referenced_works":["https://openalex.org/W588994728","https://openalex.org/W639708223","https://openalex.org/W1556546299","https://openalex.org/W1989476314","https://openalex.org/W1991544872","https://openalex.org/W2047328415","https://openalex.org/W2060061906","https://openalex.org/W2060830041","https://openalex.org/W2075550860","https://openalex.org/W2105934661","https://openalex.org/W2116588463","https://openalex.org/W2118223742","https://openalex.org/W2135926837","https://openalex.org/W2136760085","https://openalex.org/W2289676405","https://openalex.org/W2471962767","https://openalex.org/W2556455135","https://openalex.org/W2563710567","https://openalex.org/W2605103573","https://openalex.org/W2739269730","https://openalex.org/W2740418457","https://openalex.org/W2768018028","https://openalex.org/W2798302276","https://openalex.org/W2808571300","https://openalex.org/W2884525723","https://openalex.org/W2913244554","https://openalex.org/W2913954081","https://openalex.org/W2916040547","https://openalex.org/W2948273655","https://openalex.org/W2962705366","https://openalex.org/W2963256208","https://openalex.org/W2963324085","https://openalex.org/W2963713713","https://openalex.org/W2979458572","https://openalex.org/W2981381717","https://openalex.org/W2999597893","https://openalex.org/W3011463348","https://openalex.org/W3013101981","https://openalex.org/W3034275286","https://openalex.org/W3034355852","https://openalex.org/W3043075211","https://openalex.org/W3091271962","https://openalex.org/W3099342433","https://openalex.org/W3105134469","https://openalex.org/W3106458387","https://openalex.org/W3118885154","https://openalex.org/W3127229203","https://openalex.org/W3127697207","https://openalex.org/W3128125668","https://openalex.org/W3136121014","https://openalex.org/W3177645420","https://openalex.org/W3194532238","https://openalex.org/W3200141680","https://openalex.org/W4200014415","https://openalex.org/W4285102387","https://openalex.org/W4285504867","https://openalex.org/W4287704666","https://openalex.org/W4289361991","https://openalex.org/W4308450151","https://openalex.org/W4312883202","https://openalex.org/W6620707391","https://openalex.org/W6626500248","https://openalex.org/W6745830181","https://openalex.org/W6754870635","https://openalex.org/W6755312524","https://openalex.org/W6764177528","https://openalex.org/W6775208748","https://openalex.org/W6781126431","https://openalex.org/W6801478738"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W3107042705","https://openalex.org/W2115876589","https://openalex.org/W2981196697","https://openalex.org/W4229588126","https://openalex.org/W1018308721","https://openalex.org/W4229059082","https://openalex.org/W4390872624","https://openalex.org/W2896146757"],"abstract_inverted_index":{"Most":[0],"6-DoF":[1,73],"localization":[2,37,76,148,186],"and":[3,36,87,125,163,185],"SLAM":[4],"systems":[5],"use":[6],"static":[7],"landmarks":[8],"but":[9],"ignore":[10],"dynamic":[11,24,63,117,128],"objects":[12,25],"because":[13],"they":[14],"cannot":[15],"be":[16],"usefully":[17],"incorporated":[18],"into":[19],"a":[20,52,72,84,89,137,145,156],"typical":[21,29],"pipeline.":[22,77],"Where":[23],"have":[26,31],"been":[27],"incorporated,":[28],"approaches":[30],"attempted":[32],"relatively":[33],"sophisticated":[34],"identification":[35],"of":[38,59,96,116,147,177],"these":[39,132],"objects,":[40],"limiting":[41],"their":[42],"robustness":[43],"or":[44,103],"general":[45],"utility.":[46],"In":[47],"this":[48],"research,":[49],"we":[50],"propose":[51,88],"middle":[53],"ground,":[54],"demonstrated":[55],"in":[56,71,119,141],"the":[57,93,105,112,120,178,181,191],"context":[58],"autonomous":[60,106],"vehicles,":[61],"using":[62],"vehicles":[64,118,129],"to":[65,130,135,152,155],"provide":[66],"limited":[67],"pose":[68,81,98,133,138,166],"constraint":[69,169,192],"information":[70],"frame-by-frame":[74],"PnP-RANSAC":[75],"We":[78],"refine":[79],"initial":[80],"estimates":[82],"with":[83],"motion":[85,108],"model":[86],"method":[90,162],"for":[91,174],"calculating":[92],"predicted":[94],"quality":[95],"future":[97],"estimates,":[99],"triggered":[100],"by":[101,111],"whether":[102],"not":[104],"vehicle's":[107],"is":[109,172,187,194],"constrained":[110],"relative":[113],"frame-to-frame":[114],"location":[115],"environment.":[121],"Our":[122,168],"approach":[123],"detects":[124],"identifies":[126],"suitable":[127],"define":[131],"constraints":[134],"modify":[136],"filter,":[139],"resulting":[140],"improved":[142,189],"recall":[143],"across":[144],"range":[146],"tolerances":[149],"from":[150],"0.25m":[151],"5m,":[153],"compared":[154],"state-of-the-art":[157],"baseline":[158],"single":[159],"image":[160],"PnP":[161],"its":[164],"vanilla":[165],"filtering.":[167],"detection":[170,193],"system":[171],"active":[173],"approximately":[175],"35%":[176],"time":[179],"on":[180],"Ford":[182],"AV":[183],"dataset":[184],"particularly":[188],"when":[190],"active.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}