{"id":"https://openalex.org/W2965975663","doi":"https://doi.org/10.1109/lra.2019.2932580","title":"BTEL: A Binary Tree Encoding Approach for Visual Localization","display_name":"BTEL: A Binary Tree Encoding Approach for Visual Localization","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W2965975663","doi":"https://doi.org/10.1109/lra.2019.2932580","mag":"2965975663"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2932580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2932580","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":["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/A5055405019","display_name":"Huu Le","orcid":"https://orcid.org/0000-0001-7562-7180"},"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":"Huu Le","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0001-7562-7180","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080253938","display_name":"Tuan Hoang","orcid":"https://orcid.org/0000-0002-1076-8043"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tuan Hoang","raw_affiliation_strings":["Singapore University of Technology and Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-1076-8043","affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"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"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael J. Milford","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5162-1793","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.397,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.64538154,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":"4","first_page":"4354","last_page":"4361"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9969000220298767,"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":0.7723821401596069},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.6658371686935425},{"id":"https://openalex.org/keywords/search-engine-indexing","display_name":"Search engine indexing","score":0.587084949016571},{"id":"https://openalex.org/keywords/quantization","display_name":"Quantization (signal processing)","score":0.5080833435058594},{"id":"https://openalex.org/keywords/computer-data-storage","display_name":"Computer data storage","score":0.5007648468017578},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4815833568572998},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.46892648935317993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46120139956474304},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.4472811222076416},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4450555741786957},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3216208219528198},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1073075532913208}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7723821401596069},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.6658371686935425},{"id":"https://openalex.org/C75165309","wikidata":"https://www.wikidata.org/wiki/Q2258979","display_name":"Search engine indexing","level":2,"score":0.587084949016571},{"id":"https://openalex.org/C28855332","wikidata":"https://www.wikidata.org/wiki/Q198099","display_name":"Quantization (signal processing)","level":2,"score":0.5080833435058594},{"id":"https://openalex.org/C194739806","wikidata":"https://www.wikidata.org/wiki/Q66221","display_name":"Computer data storage","level":2,"score":0.5007648468017578},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4815833568572998},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.46892648935317993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46120139956474304},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.4472811222076416},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4450555741786957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3216208219528198},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1073075532913208},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2932580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2932580","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1033316025","https://openalex.org/W1634005169","https://openalex.org/W1824640608","https://openalex.org/W1974647172","https://openalex.org/W1995288918","https://openalex.org/W2048178552","https://openalex.org/W2073761981","https://openalex.org/W2110405746","https://openalex.org/W2111006384","https://openalex.org/W2124509324","https://openalex.org/W2128017662","https://openalex.org/W2132234208","https://openalex.org/W2133995768","https://openalex.org/W2139009685","https://openalex.org/W2144824356","https://openalex.org/W2171572695","https://openalex.org/W2179042386","https://openalex.org/W2284029970","https://openalex.org/W2620629206","https://openalex.org/W2740418457","https://openalex.org/W2962941391","https://openalex.org/W2963125676","https://openalex.org/W2963947122","https://openalex.org/W4238681124","https://openalex.org/W6681240974","https://openalex.org/W6741948538"],"related_works":["https://openalex.org/W3024364549","https://openalex.org/W4206019083","https://openalex.org/W1976265003","https://openalex.org/W2054476758","https://openalex.org/W2370378377","https://openalex.org/W2048865712","https://openalex.org/W4210535024","https://openalex.org/W4237510188","https://openalex.org/W2130160813","https://openalex.org/W2350613701"],"abstract_inverted_index":{"Visual":[0],"localization":[1,96,158],"algorithms":[2],"have":[3],"achieved":[4],"significant":[5],"improvements":[6],"in":[7,13,52,66,124],"performance":[8],"thanks":[9],"to":[10,47,115,138,148,154,172,178],"recent":[11,184],"advances":[12],"camera":[14],"technology":[15],"and":[16,50,106,128],"vision-based":[17],"techniques.":[18,108],"However,":[19],"there":[20],"remains":[21],"one":[22],"critical":[23],"caveat:":[24],"all":[25],"current":[26],"approaches":[27,198],"that":[28,121,191],"are":[29],"based":[30],"on":[31,181],"image":[32,186],"retrieval":[33],"currently":[34],"scale":[35],"at":[36],"best":[37],"linearly":[38],"with":[39,45],"the":[40,43,61,157,162,173,192],"size":[41],"of":[42,63,70,165,183],"environment":[44],"respect":[46],"both":[48,125],"storage,":[49,73],"consequentially":[51],"most":[53],"approaches,":[54],"query":[55],"time.":[56,130],"This":[57],"limitation":[58],"severely":[59],"curtails":[60],"capability":[62],"autonomous":[64],"systems":[65],"a":[67,88,117],"wide":[68],"range":[69],"compute,":[71],"power,":[72],"size,":[74],"weight":[75],"or":[76],"cost":[77],"constrained":[78],"applications":[79],"such":[80],"as":[81,100],"drones.":[82],"In":[83],"this":[84],"work,":[85],"we":[86],"present":[87],"novel":[89],"binary":[90],"tree":[91,111],"encoding":[92,132],"approach":[93,145],"for":[94,103],"visual":[95],"which":[97],"can":[98,134],"serve":[99],"an":[101,149],"alternative":[102],"existing":[104],"quantization":[105],"indexing":[107],"The":[109,131],"proposed":[110,193],"structure":[112],"allows":[113],"us":[114],"derive":[116],"compressed":[118],"training":[119],"scheme":[120],"achieves":[122],"sub-linearity":[123],"required":[126],"storage":[127,141,201],"inference":[129],"memory":[133],"be":[135,179],"easily":[136],"configured":[137],"satisfy":[139],"different":[140],"constraints.":[142,202],"Moreover,":[143],"our":[144],"is":[146,169],"amenable":[147],"optional":[150],"sequence":[151],"filtering":[152],"mechanism":[153],"further":[155],"improve":[156],"results,":[159],"while":[160],"maintaining":[161],"same":[163],"amount":[164],"storage.":[166],"Our":[167],"system":[168],"entirely":[170],"agnostic":[171],"front-end":[174],"descriptors,":[175],"allowing":[176],"it":[177],"used":[180],"top":[182],"state-of-the-art":[185,197],"representations.":[187],"Experimental":[188],"results":[189],"show":[190],"method":[194],"significantly":[195],"outperforms":[196],"under":[199],"limited":[200]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
