{"id":"https://openalex.org/W4405778629","doi":"https://doi.org/10.1109/iros58592.2024.10801788","title":"Pos<sup>2</sup>VPR: Fast Position Consistency Validation with Positive Sample Mining for Hierarchical Place Recognition","display_name":"Pos<sup>2</sup>VPR: Fast Position Consistency Validation with Positive Sample Mining for Hierarchical Place Recognition","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405778629","doi":"https://doi.org/10.1109/iros58592.2024.10801788"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5109279516","display_name":"Dehao Zou","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dehao Zou","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073072707","display_name":"Xiaolong Qian","orcid":"https://orcid.org/0000-0002-2821-6108"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Qian","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038287028","display_name":"Yunzhou Zhang","orcid":"https://orcid.org/0000-0003-0610-3732"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhou Zhang","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113523819","display_name":"Xinge Zhao","orcid":"https://orcid.org/0009-0000-3228-3517"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinge Zhao","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100446586","display_name":"Zhuo Wang","orcid":"https://orcid.org/0000-0002-5589-0288"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuo Wang","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8408","last_page":"8413"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9932000041007996,"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"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9932000041007996,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9889000058174133,"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":0.9840999841690063,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.7079533338546753},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.6151630282402039},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5572823286056519},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.521575391292572},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.4510466754436493},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.393624484539032},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3928321599960327},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.12684544920921326},{"id":"https://openalex.org/keywords/chromatography","display_name":"Chromatography","score":0.09370502829551697}],"concepts":[{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.7079533338546753},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.6151630282402039},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5572823286056519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.521575391292572},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.4510466754436493},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.393624484539032},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3928321599960327},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.12684544920921326},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.09370502829551697},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W301022506","https://openalex.org/W1162411702","https://openalex.org/W2012592962","https://openalex.org/W2013270301","https://openalex.org/W2085261163","https://openalex.org/W2112669647","https://openalex.org/W2284029970","https://openalex.org/W2718724383","https://openalex.org/W2737075200","https://openalex.org/W2951019013","https://openalex.org/W2963538243","https://openalex.org/W2963588253","https://openalex.org/W2964157791","https://openalex.org/W2979458572","https://openalex.org/W2984478347","https://openalex.org/W3034213661","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3095367607","https://openalex.org/W3110076758","https://openalex.org/W3173736705","https://openalex.org/W4205940540","https://openalex.org/W4312336574","https://openalex.org/W4312597490","https://openalex.org/W4319299901","https://openalex.org/W4383101341","https://openalex.org/W4392224206","https://openalex.org/W4402716379","https://openalex.org/W6791309518","https://openalex.org/W6861928822"],"related_works":["https://openalex.org/W1603736412","https://openalex.org/W4304185162","https://openalex.org/W2385118824","https://openalex.org/W2061685118","https://openalex.org/W3006282800","https://openalex.org/W2462100143","https://openalex.org/W1185300216","https://openalex.org/W1770503332","https://openalex.org/W2359476137","https://openalex.org/W3125207769"],"abstract_inverted_index":{"Visual":[0],"place":[1,105],"recognition":[2,106],"(VPR)":[3],"is":[4,24,39,183],"a":[5,60,103,120,133],"challenging":[6],"issue":[7],"for":[8,18,35,55,117,128,146],"robotics":[9],"and":[10,41,119,167,176],"autonomous":[11],"systems,":[12],"focusing":[13],"on":[14,94,196],"utilizing":[15],"visual":[16],"information":[17,45,50],"robot":[19],"localization.":[20],"Currently,":[21],"hierarchical":[22],"architecture":[23],"being":[25],"employed":[26],"by":[27],"growing":[28],"works,":[29],"which":[30],"embraces":[31],"RANSAC-based":[32,134],"geometric":[33,44,95],"verification":[34],"re-ranking.":[36,56],"However,":[37],"RANSAC":[38,157],"time-consuming":[40],"only":[42,81],"employs":[43],"while":[46],"neglecting":[47],"other":[48,89],"potential":[49],"that":[51,92,108],"could":[52],"be":[53],"useful":[54],"Here":[57],"we":[58,101,131,155],"propose":[59,132],"fast":[61],"position":[62,72,178],"consistency":[63,96],"via":[64],"local":[65,126],"patch":[66,127],"(PCLP)":[67],"algorithm":[68],"to":[69,113,124,140,170],"take":[70],"the":[71,142,159],"of":[73],"task-relevant":[74],"patch-descriptor":[75],"into":[76,158],"account.":[77],"Without":[78],"training,":[79],"it":[80],"costs":[82],"little":[83],"time":[84],"but":[85],"performs":[86],"better":[87],"than":[88],"re-ranking":[90],"methods":[91,195],"rely":[93],"verification.":[97],"In":[98],"this":[99],"paper,":[100],"present":[102],"unified":[104],"framework":[107],"incorporates":[109],"an":[110],"aggregation":[111],"module":[112,123],"extract":[114],"global":[115],"features":[116],"retrieval":[118],"PCLP":[121],"validation":[122,179],"filter":[125],"reranking.":[129],"Meanwhile,":[130],"tightly":[135],"coupled":[136],"learning":[137],"(R-TCL)":[138],"strategy":[139,175],"discover":[141],"best":[143],"positive":[144,172],"sample":[145,152,160,173],"training":[147],"robust":[148],"models.":[149],"Unlike":[150],"common":[151],"mining":[153,161,174],"methods,":[154],"introduce":[156],"process,":[162],"achieving":[163],"trade-off":[164],"between":[165],"efficiency":[166],"accuracy.":[168],"Due":[169],"improved":[171],"novel":[177],"module,":[180],"our":[181],"model":[182],"named":[184],"as":[185],"Pos<sup":[186,190],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[187,191],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>VPR.":[188],"Remarkably,":[189],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>VPR":[192],"outperforms":[193],"state-of-the-art":[194],"four":[197],"major":[198],"datasets":[199],"with":[200],"extremely":[201],"short":[202],"running":[203],"time.":[204]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}