{"id":"https://openalex.org/W4389668005","doi":"https://doi.org/10.1109/iros55552.2023.10342415","title":"What to Learn: Features, Image Transformations, or Both?","display_name":"What to Learn: Features, Image Transformations, or Both?","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389668005","doi":"https://doi.org/10.1109/iros55552.2023.10342415"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342415","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/A5100342238","display_name":"Yuxuan Chen","orcid":"https://orcid.org/0000-0002-0184-5967"},"institutions":[{"id":"https://openalex.org/I2799838188","display_name":"Toronto Rehabilitation Institute","ror":"https://ror.org/00mxe0976","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I1325899441","https://openalex.org/I2799838188"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Yuxuan Chen","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies, University of Toronto,Canada","University of Toronto Institute for Aerospace Studies, University of Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, University of Toronto,Canada","institution_ids":["https://openalex.org/I185261750","https://openalex.org/I2799838188"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, University of Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059488737","display_name":"Binbin Xu","orcid":"https://orcid.org/0000-0002-0822-5250"},"institutions":[{"id":"https://openalex.org/I2799838188","display_name":"Toronto Rehabilitation Institute","ror":"https://ror.org/00mxe0976","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I1325899441","https://openalex.org/I2799838188"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Binbin Xu","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies, University of Toronto,Canada","University of Toronto Institute for Aerospace Studies, University of Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, University of Toronto,Canada","institution_ids":["https://openalex.org/I185261750","https://openalex.org/I2799838188"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, University of Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058042824","display_name":"Frederike D\u00fcmbgen","orcid":"https://orcid.org/0000-0002-7258-9753"},"institutions":[{"id":"https://openalex.org/I2799838188","display_name":"Toronto Rehabilitation Institute","ror":"https://ror.org/00mxe0976","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I1325899441","https://openalex.org/I2799838188"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Frederike D\u00fcmbgen","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies, University of Toronto,Canada","University of Toronto Institute for Aerospace Studies, University of Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, University of Toronto,Canada","institution_ids":["https://openalex.org/I185261750","https://openalex.org/I2799838188"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, University of Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I2799838188","display_name":"Toronto Rehabilitation Institute","ror":"https://ror.org/00mxe0976","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I1325899441","https://openalex.org/I2799838188"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["University of Toronto Institute for Aerospace Studies, University of Toronto,Canada","University of Toronto Institute for Aerospace Studies, University of Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, University of Toronto,Canada","institution_ids":["https://openalex.org/I185261750","https://openalex.org/I2799838188"]},{"raw_affiliation_string":"University of Toronto Institute for Aerospace Studies, University of Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100342238"],"corresponding_institution_ids":["https://openalex.org/I185261750","https://openalex.org/I2799838188"],"apc_list":null,"apc_paid":null,"fwci":0.8824,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.82061908,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3351","last_page":"3357"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9995999932289124,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.816146969795227},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6789284348487854},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6459617614746094},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.6087021827697754},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5601201057434082},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.5566401481628418},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5419268608093262},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.5166945457458496},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5059840083122253},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.48472973704338074},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.47963863611221313},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4543759226799011},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.44830644130706787},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.41453471779823303},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41214701533317566},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3250843584537506},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2502540946006775},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1819591522216797}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.816146969795227},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6789284348487854},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6459617614746094},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.6087021827697754},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5601201057434082},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.5566401481628418},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5419268608093262},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.5166945457458496},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5059840083122253},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.48472973704338074},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.47963863611221313},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4543759226799011},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.44830644130706787},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.41453471779823303},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41214701533317566},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3250843584537506},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2502540946006775},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1819591522216797},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342415","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":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1588649053","https://openalex.org/W1677409904","https://openalex.org/W1686810756","https://openalex.org/W2003919215","https://openalex.org/W2027686373","https://openalex.org/W2108598243","https://openalex.org/W2117228865","https://openalex.org/W2151103935","https://openalex.org/W2200124539","https://openalex.org/W2320444803","https://openalex.org/W2331128040","https://openalex.org/W2475287302","https://openalex.org/W2561611286","https://openalex.org/W2804394440","https://openalex.org/W2892865870","https://openalex.org/W2922243907","https://openalex.org/W2928530452","https://openalex.org/W2951870616","https://openalex.org/W2963359064","https://openalex.org/W2964175348","https://openalex.org/W2969121634","https://openalex.org/W2979458572","https://openalex.org/W2983230029","https://openalex.org/W2999597893","https://openalex.org/W3043075211","https://openalex.org/W3089835902","https://openalex.org/W3104804161","https://openalex.org/W3107170921","https://openalex.org/W3129004338","https://openalex.org/W3198835173","https://openalex.org/W3206222126","https://openalex.org/W4200321754","https://openalex.org/W4230475428","https://openalex.org/W4312674867","https://openalex.org/W6640608684","https://openalex.org/W6752208963","https://openalex.org/W6785899749"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W3201126466","https://openalex.org/W4240485100","https://openalex.org/W4254970379","https://openalex.org/W2056130799","https://openalex.org/W2045758229","https://openalex.org/W405964254"],"abstract_inverted_index":{"Long-term":[0],"visual":[1],"localization":[2,92,167],"is":[3],"an":[4,67,81],"essential":[5],"problem":[6],"in":[7,56],"robotics":[8],"and":[9,24,41,85,152,155],"computer":[10],"vision,":[11],"but":[12],"remains":[13],"challenging":[14],"due":[15],"to":[16,32,43,69,79,89,110,117,130,135,144],"the":[17,98,103,113,137,146],"environmental":[18],"appearance":[19,52,72],"changes":[20],"caused":[21],"by":[22,35],"lighting":[23],"seasons.":[25],"While":[26],"many":[27],"existing":[28],"works":[29],"have":[30,64],"attempted":[31],"solve":[33],"it":[34],"directly":[36],"learning":[37,154],"invariant":[38],"sparse":[39],"keypoints":[40],"descriptors":[42],"match":[44],"scenes,":[45],"these":[46],"approaches":[47],"still":[48],"struggle":[49],"with":[50,121],"adverse":[51],"changes.":[53],"Recent":[54],"developments":[55],"image":[57,82,96,99],"transformations":[58],"such":[59,71,161],"as":[60,66],"neural":[61],"style":[62,150],"transfer":[63,151],"emerged":[65],"alternative":[68],"address":[70],"gaps.":[73],"In":[74],"this":[75],"work,":[76],"we":[77],"propose":[78],"combine":[80],"transformation":[83,100],"network":[84,88,101,115],"a":[86,131,162],"feature-learning":[87],"improve":[90],"long-term":[91,166],"performance.":[93,168],"Given":[94],"night-to-day":[95],"pairs,":[97],"transforms":[102],"night":[104],"images":[105],"into":[106],"day-like":[107],"conditions":[108],"prior":[109],"feature":[111,114,153],"matching;":[112],"learns":[116],"detect":[118],"keypoint":[119],"locations":[120],"their":[122],"associated":[123],"descriptor":[124],"values,":[125],"which":[126],"can":[127],"be":[128],"passed":[129],"classical":[132],"pose":[133],"estimator":[134],"compute":[136],"relative":[138],"poses.":[139],"We":[140],"conducted":[141],"various":[142],"experiments":[143],"examine":[145],"effectiveness":[147],"of":[148],"combining":[149],"its":[156],"training":[157],"strategy,":[158],"showing":[159],"that":[160],"combination":[163],"greatly":[164],"improves":[165]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}