{"id":"https://openalex.org/W2955464297","doi":"https://doi.org/10.1109/lra.2019.2928259","title":"Automatic Coverage Selection for Surface-Based Visual Localization","display_name":"Automatic Coverage Selection for Surface-Based Visual Localization","publication_year":2019,"publication_date":"2019-07-12","ids":{"openalex":"https://openalex.org/W2955464297","doi":"https://doi.org/10.1109/lra.2019.2928259","mag":"2955464297"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2928259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2928259","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1906.11419","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020361570","display_name":"James Mount","orcid":"https://orcid.org/0000-0003-2232-6178"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"James Mount","raw_affiliation_strings":["Australian Centre for Robotic Vision and the Faculty of Science and Engineering, Queensland University of Technology, Brisbane, Australia"],"raw_orcid":"https://orcid.org/0000-0003-2232-6178","affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision and the Faculty of Science and Engineering, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088512511","display_name":"Les Dawes","orcid":"https://orcid.org/0000-0003-2329-5940"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Les Dawes","raw_affiliation_strings":["Faculty of Science and Engineering, Queensland University of Technology, Brisbane, Australia","Faculty of Science and Engineering, Queensland University of Technology, Brisbane, Australia#TAB#"],"raw_orcid":"https://orcid.org/0000-0003-2329-5940","affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"Faculty of Science and Engineering, Queensland University of Technology, Brisbane, Australia#TAB#","institution_ids":["https://openalex.org/I160993911"]}]},{"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/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael J. Milford","raw_affiliation_strings":["Australian Centre for Robotic Vision and the Faculty of Science and Engineering, Queensland University of Technology, Brisbane, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5162-1793","affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision and the Faculty of Science and Engineering, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.8166,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.97333374,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":"4","first_page":"3900","last_page":"3907"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9968000054359436,"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":0.9915000200271606,"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":0.7616894841194153},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6033356189727783},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5728873014450073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5695244073867798},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5582444667816162},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.4971809685230255},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4619129002094269},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45749223232269287},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.44850316643714905},{"id":"https://openalex.org/keywords/field-of-view","display_name":"Field of view","score":0.4225099980831146},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4144176244735718},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0824882984161377}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7616894841194153},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6033356189727783},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5728873014450073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5695244073867798},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5582444667816162},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.4971809685230255},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4619129002094269},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45749223232269287},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.44850316643714905},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.4225099980831146},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4144176244735718},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0824882984161377},{"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2019.2928259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2928259","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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:arXiv.org:1906.11419","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1906.11419","pdf_url":"https://arxiv.org/pdf/1906.11419","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2955464297","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1906.11419","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1906.11419","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1906.11419","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1906.11419","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1906.11419","pdf_url":"https://arxiv.org/pdf/1906.11419","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W76331760","https://openalex.org/W1567186765","https://openalex.org/W1827931572","https://openalex.org/W1974900073","https://openalex.org/W1981824936","https://openalex.org/W1988895017","https://openalex.org/W1998058414","https://openalex.org/W2001902147","https://openalex.org/W2008697864","https://openalex.org/W2013117623","https://openalex.org/W2020950478","https://openalex.org/W2021447234","https://openalex.org/W2049750053","https://openalex.org/W2056250461","https://openalex.org/W2058311622","https://openalex.org/W2064123298","https://openalex.org/W2064421894","https://openalex.org/W2066211959","https://openalex.org/W2078304098","https://openalex.org/W2080421438","https://openalex.org/W2081462278","https://openalex.org/W2097998348","https://openalex.org/W2102539288","https://openalex.org/W2106411961","https://openalex.org/W2110405746","https://openalex.org/W2111365302","https://openalex.org/W2116672260","https://openalex.org/W2122907023","https://openalex.org/W2125093161","https://openalex.org/W2128622892","https://openalex.org/W2147536420","https://openalex.org/W2154422147","https://openalex.org/W2169076903","https://openalex.org/W2171792626","https://openalex.org/W2174726731","https://openalex.org/W2211472388","https://openalex.org/W2215511705","https://openalex.org/W2414260735","https://openalex.org/W2519018767","https://openalex.org/W2766283203","https://openalex.org/W2799666902","https://openalex.org/W2911107863","https://openalex.org/W2935513105","https://openalex.org/W3017527305","https://openalex.org/W3041201303","https://openalex.org/W3143504974","https://openalex.org/W4285719527","https://openalex.org/W6603190504","https://openalex.org/W6674385629","https://openalex.org/W6676179485","https://openalex.org/W6685522000","https://openalex.org/W6731362754","https://openalex.org/W6745365835","https://openalex.org/W6750733742","https://openalex.org/W6761003757","https://openalex.org/W6776184236"],"related_works":["https://openalex.org/W2962801861","https://openalex.org/W2964337214","https://openalex.org/W2613881032","https://openalex.org/W2737874330","https://openalex.org/W3008046551","https://openalex.org/W2784750858","https://openalex.org/W1765985336","https://openalex.org/W2028664813","https://openalex.org/W3200256093","https://openalex.org/W2791639158","https://openalex.org/W1499144207","https://openalex.org/W869149454","https://openalex.org/W2774492100","https://openalex.org/W2899777419","https://openalex.org/W2767973322","https://openalex.org/W2883596296","https://openalex.org/W2058040501","https://openalex.org/W252242283","https://openalex.org/W3015555358","https://openalex.org/W2891903559"],"abstract_inverted_index":{"Localization":[0],"is":[1,31,205],"a":[2,13,59,68,129,164,182,213],"critical":[3,21,60],"capability":[4],"for":[5,23,46,125,133,178,210,231],"robots,":[6],"drones,":[7],"and":[8,53,96,108,140,173,197,200,236],"autonomous":[9,233],"vehicles":[10],"operating":[11],"in":[12,62,79,87,225],"wide":[14],"range":[15],"of":[16,19,34,50,56,65,112,131,147,216,228],"environments.":[17],"One":[18],"the":[20,32,35,40,48,51,66,109,126,136,145,148,170,226],"considerations":[22],"designing,":[24],"training,":[25],"or":[26,86],"calibrating":[27],"visual":[28,36,141,150],"localization":[29,142,157,165,179,229],"systems":[30,230],"coverage":[33,107,139,152,211],"sensors":[37],"equipped":[38],"on":[39,84,169,190],"platforms.":[41],"In":[42,120],"an":[43],"aerial":[44,196],"context":[45],"example,":[47],"altitude":[49,99],"platform":[52],"camera":[54,71,94],"field":[55],"view":[57],"plays":[58],"role":[61],"how":[63],"much":[64],"environment":[67],"downward":[69],"facing":[70],"can":[72,100],"perceive":[73],"at":[74],"any":[75],"one":[76],"time.":[77],"Furthermore,":[78],"other":[80],"applications,":[81],"such":[82,92],"as":[83,93],"roads":[85],"indoor":[88],"environments,":[89],"additional":[90],"factors,":[91],"resolution":[95],"sensor":[97,106,151,184],"placement":[98],"also":[101,115],"affect":[102],"this":[103,121],"coverage.":[104,185],"The":[105],"subsequent":[110],"processing":[111],"its":[113,175],"data":[114],"have":[116],"significant":[117],"computational":[118],"implications.":[119],"letter,":[122],"we":[123],"present":[124],"first":[127],"time":[128],"set":[130],"methods":[132],"automatically":[134,208],"determining":[135],"tradeoff":[137],"between":[138],"performance,":[143],"enabling":[144],"identification":[146],"minimum":[149],"required":[153],"to":[154,207],"obtain":[155],"optimal":[156],"performance":[158,166,180],"with":[159,181],"minimal":[160],"compute.":[161],"We":[162,186,219],"develop":[163],"indicator":[167],"based":[168],"overlapping":[171],"coefficient,":[172],"demonstrate":[174,201],"predictive":[176],"power":[177],"certain":[183],"evaluate":[187],"our":[188,203],"method":[189,204],"several":[191],"challenging":[192],"real-world":[193],"datasets":[194],"from":[195],"ground-based":[198],"domains,":[199],"that":[202],"able":[206],"optimize":[209],"using":[212],"small":[214],"amount":[215],"calibration":[217],"data.":[218],"hope":[220],"these":[221],"results":[222],"will":[223],"assist":[224],"design":[227],"future":[232],"robot,":[234],"vehicle,":[235],"flying":[237],"systems.":[238]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}