{"id":"https://openalex.org/W2884148180","doi":"https://doi.org/10.1109/lra.2018.2859916","title":"Learning Context Flexible Attention Model for Long-Term Visual Place Recognition","display_name":"Learning Context Flexible Attention Model for Long-Term Visual Place Recognition","publication_year":2018,"publication_date":"2018-07-26","ids":{"openalex":"https://openalex.org/W2884148180","doi":"https://doi.org/10.1109/lra.2018.2859916","mag":"2884148180"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2859916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2859916","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/282829","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101962227","display_name":"Zetao Chen","orcid":"https://orcid.org/0000-0002-5596-5008"},"institutions":[{"id":"https://openalex.org/I2799323385","display_name":"Board of the Swiss Federal Institutes of Technology","ror":"https://ror.org/01rvn4p91","country_code":"CH","type":"government","lineage":["https://openalex.org/I2799323385"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Zetao Chen","raw_affiliation_strings":["Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH"],"raw_orcid":"https://orcid.org/0000-0002-5596-5008","affiliations":[{"raw_affiliation_string":"Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH","institution_ids":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070976480","display_name":"Lingqiao Liu","orcid":"https://orcid.org/0000-0003-3584-795X"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Lingqiao Liu","raw_affiliation_strings":["The University of Adelaide, Adelaide, SA, AU"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Adelaide, Adelaide, SA, AU","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065532121","display_name":"Inkyu Sa","orcid":"https://orcid.org/0000-0001-5429-0515"},"institutions":[{"id":"https://openalex.org/I2799323385","display_name":"Board of the Swiss Federal Institutes of Technology","ror":"https://ror.org/01rvn4p91","country_code":"CH","type":"government","lineage":["https://openalex.org/I2799323385"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Inkyu Sa","raw_affiliation_strings":["Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH"],"raw_orcid":"https://orcid.org/0000-0001-5429-0515","affiliations":[{"raw_affiliation_string":"Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH","institution_ids":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005014252","display_name":"Zongyuan Ge","orcid":"https://orcid.org/0000-0002-5880-8673"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Zongyuan Ge","raw_affiliation_strings":["eResearch Centre, University of Monash, Melbourne, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"eResearch Centre, University of Monash, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055582765","display_name":"Margarita Chli","orcid":"https://orcid.org/0000-0001-5611-7492"},"institutions":[{"id":"https://openalex.org/I2799323385","display_name":"Board of the Swiss Federal Institutes of Technology","ror":"https://ror.org/01rvn4p91","country_code":"CH","type":"government","lineage":["https://openalex.org/I2799323385"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Margarita Chli","raw_affiliation_strings":["Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH"],"raw_orcid":"https://orcid.org/0000-0001-5611-7492","affiliations":[{"raw_affiliation_string":"Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH","institution_ids":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.8337,"has_fulltext":false,"cited_by_count":118,"citation_normalized_percentile":{"value":0.97489819,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"3","issue":"4","first_page":"4015","last_page":"4022"},"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":0.9995999932289124,"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"}},"topics":[{"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/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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9993000030517578,"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":0.8241350054740906},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7699614763259888},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6611404418945312},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6534744501113892},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6368552446365356},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5656837224960327},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.5202106833457947},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.45277056097984314},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.4435538351535797},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.43191736936569214},{"id":"https://openalex.org/keywords/spatial-contextual-awareness","display_name":"Spatial contextual awareness","score":0.41479790210723877},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.074361652135849}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8241350054740906},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7699614763259888},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6611404418945312},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6534744501113892},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6368552446365356},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5656837224960327},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.5202106833457947},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.45277056097984314},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.4435538351535797},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.43191736936569214},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.41479790210723877},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.074361652135849},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control 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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2018.2859916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2859916","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/282829","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/282829","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 3 (4)","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.3929/ethz-b-000282829","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000282829","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Other"}],"best_oa_location":{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/282829","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/282829","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 3 (4)","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W8177059","https://openalex.org/W26944259","https://openalex.org/W155607310","https://openalex.org/W301022506","https://openalex.org/W1162411702","https://openalex.org/W1500371992","https://openalex.org/W1686810756","https://openalex.org/W1895989618","https://openalex.org/W1931639407","https://openalex.org/W1932624639","https://openalex.org/W1960289438","https://openalex.org/W1960777822","https://openalex.org/W1974093076","https://openalex.org/W2079112914","https://openalex.org/W2097117768","https://openalex.org/W2109197213","https://openalex.org/W2110158442","https://openalex.org/W2110405746","https://openalex.org/W2119605622","https://openalex.org/W2149363785","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2293047233","https://openalex.org/W2421627342","https://openalex.org/W2550553598","https://openalex.org/W2580440899","https://openalex.org/W2618530766","https://openalex.org/W2620629206","https://openalex.org/W2732016772","https://openalex.org/W2732026016","https://openalex.org/W2737075200","https://openalex.org/W2741727820","https://openalex.org/W2744874208","https://openalex.org/W2782811125","https://openalex.org/W2951019013","https://openalex.org/W2962891704","https://openalex.org/W2963143328","https://openalex.org/W2963495494","https://openalex.org/W2964105113","https://openalex.org/W2964157791","https://openalex.org/W6601039244","https://openalex.org/W6606343831","https://openalex.org/W6637373629"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W2378211422","https://openalex.org/W1963486701","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W2312483540","https://openalex.org/W4249477090","https://openalex.org/W191745111","https://openalex.org/W1522083559"],"abstract_inverted_index":{"Identifying":[0],"regions":[1,58,94],"of":[2,10,17,75,95,97,109,127],"interest":[3,96],"in":[4,13,53,79],"an":[5],"image":[6,45],"has":[7,149],"long":[8],"been":[9,103],"great":[11],"importance":[12,74],"a":[14,27,67],"wide":[15],"range":[16],"tasks,":[18],"including":[19],"place":[20,49,63,89],"recognition.":[21,50],"In":[22,51],"this":[23],"letter,":[24],"we":[25,65,135],"propose":[26],"novel":[28],"attention":[29,139,146],"mechanism":[30],"with":[31],"flexible":[32],"context,":[33],"which":[34],"can":[35,92,119],"be":[36],"incorporated":[37],"into":[38,144],"existing":[39],"feedforward":[40],"network":[41,70,148],"architecture":[42],"to":[43,55,62,71,105,141],"learn":[44],"representations":[46],"for":[47,88],"long-term":[48],"particular,":[52],"order":[54],"focus":[56],"on":[57,130],"that":[59,116],"contribute":[60],"positively":[61],"recognition,":[64],"introduce":[66],"multiscale":[68],"context-flexible":[69],"estimate":[72],"the":[73,80,107,113,125,128,137,147],"each":[76],"spatial":[77],"region":[78],"feature":[81],"map.":[82],"Our":[83],"model":[84,118],"is":[85],"trained":[86],"end-to-end":[87],"recognition":[90],"and":[91,112],"detect":[93],"arbitrary":[98],"shape.":[99],"Extensive":[100],"experiments":[101],"have":[102],"conducted":[104],"verify":[106],"effectiveness":[108],"our":[110,117],"approach":[111],"results":[114],"demonstrate":[115],"achieve":[120],"consistently":[121],"better":[122],"performance":[123],"than":[124],"state":[126],"art":[129],"standard":[131],"benchmark":[132],"datasets.":[133],"Finally,":[134],"visualize":[136],"learned":[138],"maps":[140],"generate":[142],"insights":[143],"what":[145],"learned.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":3}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}