{"id":"https://openalex.org/W2999879503","doi":"https://doi.org/10.1109/lra.2020.2967324","title":"A Hybrid Compact Neural Architecture for Visual Place Recognition","display_name":"A Hybrid Compact Neural Architecture for Visual Place Recognition","publication_year":2020,"publication_date":"2020-01-17","ids":{"openalex":"https://openalex.org/W2999879503","doi":"https://doi.org/10.1109/lra.2020.2967324","mag":"2999879503"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2967324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967324","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"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.06840","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Marvin Chancan","orcid":"https://orcid.org/0000-0002-7427-5854"},"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/I62520931","display_name":"National University of Engineering","ror":"https://ror.org/006v63s16","country_code":"PE","type":"education","lineage":["https://openalex.org/I62520931"]}],"countries":["AU","PE"],"is_corresponding":false,"raw_author_name":"Marvin Chancan","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, Australia","School of Mechatronics Engineering, Universidad Nacional de Ingenier\u00eda, Lima, Peru"],"raw_orcid":"https://orcid.org/0000-0002-7427-5854","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"School of Mechatronics Engineering, Universidad Nacional de Ingenier\u00eda, Lima, Peru","institution_ids":["https://openalex.org/I62520931"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Luis Hernandez-Nunez","orcid":"https://orcid.org/0000-0003-3102-9036"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]},{"id":"https://openalex.org/I62520931","display_name":"National University of Engineering","ror":"https://ror.org/006v63s16","country_code":"PE","type":"education","lineage":["https://openalex.org/I62520931"]}],"countries":["PE","US"],"is_corresponding":false,"raw_author_name":"Luis Hernandez-Nunez","raw_affiliation_strings":["Center for Brain Science & Department of Physics, Harvard University, Cambridge, USA","School of Mechatronics Engineering, Universidad Nacional de Ingenier\u00eda, Lima, Peru"],"raw_orcid":"https://orcid.org/0000-0003-3102-9036","affiliations":[{"raw_affiliation_string":"Center for Brain Science & Department of Physics, Harvard University, Cambridge, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Mechatronics Engineering, Universidad Nacional de Ingenier\u00eda, Lima, Peru","institution_ids":["https://openalex.org/I62520931"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ajay Narendra","orcid":"https://orcid.org/0000-0002-1286-5373"},"institutions":[{"id":"https://openalex.org/I99043593","display_name":"Macquarie University","ror":"https://ror.org/01sf06y89","country_code":"AU","type":"education","lineage":["https://openalex.org/I99043593"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ajay Narendra","raw_affiliation_strings":["Department of Biological Sciences, Macquarie University, Sydney, Australia"],"raw_orcid":"https://orcid.org/0000-0002-1286-5373","affiliations":[{"raw_affiliation_string":"Department of Biological Sciences, Macquarie University, Sydney, Australia","institution_ids":["https://openalex.org/I99043593"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Andrew B. Barron","orcid":"https://orcid.org/0000-0002-8135-6628"},"institutions":[{"id":"https://openalex.org/I99043593","display_name":"Macquarie University","ror":"https://ror.org/01sf06y89","country_code":"AU","type":"education","lineage":["https://openalex.org/I99043593"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Andrew B. Barron","raw_affiliation_strings":["Department of Biological Sciences, Macquarie University, Sydney, Australia"],"raw_orcid":"https://orcid.org/0000-0002-8135-6628","affiliations":[{"raw_affiliation_string":"Department of Biological Sciences, Macquarie University, Sydney, Australia","institution_ids":["https://openalex.org/I99043593"]}]},{"author_position":"last","author":{"id":null,"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 Milford","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, 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, Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":70.1295,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.9981385,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"5","issue":"2","first_page":"993","last_page":"1000"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.18299999833106995,"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":0.18299999833106995,"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":0.14970000088214874,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.13819999992847443,"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/artificial-neural-network","display_name":"Artificial neural network","score":0.6431000232696533},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6046000123023987},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5753999948501587},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.45190000534057617},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.43290001153945923},{"id":"https://openalex.org/keywords/attractor","display_name":"Attractor","score":0.40779998898506165},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.361299991607666},{"id":"https://openalex.org/keywords/cellular-neural-network","display_name":"Cellular neural network","score":0.35679998993873596}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7267000079154968},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6535000205039978},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6431000232696533},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6046000123023987},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5753999948501587},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.45190000534057617},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.43290001153945923},{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.40779998898506165},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.361299991607666},{"id":"https://openalex.org/C812465","wikidata":"https://www.wikidata.org/wiki/Q5058375","display_name":"Cellular neural network","level":3,"score":0.35679998993873596},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3528999984264374},{"id":"https://openalex.org/C2984842247","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep neural networks","level":3,"score":0.33640000224113464},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.32850000262260437},{"id":"https://openalex.org/C175202392","wikidata":"https://www.wikidata.org/wiki/Q2434543","display_name":"Time delay neural network","level":3,"score":0.32739999890327454},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3181999921798706},{"id":"https://openalex.org/C193415008","wikidata":"https://www.wikidata.org/wiki/Q639681","display_name":"Network architecture","level":2,"score":0.3021000027656555},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2906999886035919},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.2766000032424927},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.2702000141143799},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C2779990667","wikidata":"https://www.wikidata.org/wiki/Q5953266","display_name":"Hybrid neural network","level":3,"score":0.2624000012874603},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.26030001044273376},{"id":"https://openalex.org/C177973122","wikidata":"https://www.wikidata.org/wiki/Q7860946","display_name":"Types of artificial neural networks","level":4,"score":0.25619998574256897}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2967324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967324","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:1910.06840","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.06840","pdf_url":"https://arxiv.org/pdf/1910.06840","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.06840","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.06840","pdf_url":"https://arxiv.org/pdf/1910.06840","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2140357557","display_name":null,"funder_award_id":"N00014-19-1-2571","funder_id":"https://openalex.org/F4320333591","funder_display_name":"Multidisciplinary University Research Initiative"},{"id":"https://openalex.org/G2154455053","display_name":null,"funder_award_id":"N00014-19-1-2571","funder_id":"https://openalex.org/F4320315885","funder_display_name":"Australian Government"},{"id":"https://openalex.org/G3024551116","display_name":null,"funder_award_id":"N00014-19-1-2571","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320315885","display_name":"Australian Government","ror":"https://ror.org/0314h5y94"},{"id":"https://openalex.org/F4320317153","display_name":"DeepMind","ror":"https://ror.org/00971b260"},{"id":"https://openalex.org/F4320333591","display_name":"Multidisciplinary University Research Initiative","ror":null},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W38782790","https://openalex.org/W301022506","https://openalex.org/W1162411702","https://openalex.org/W1240589429","https://openalex.org/W1749678571","https://openalex.org/W1903029394","https://openalex.org/W1937954682","https://openalex.org/W1986153736","https://openalex.org/W1993150071","https://openalex.org/W2003919215","https://openalex.org/W2008936540","https://openalex.org/W2064675550","https://openalex.org/W2070287725","https://openalex.org/W2076619666","https://openalex.org/W2108598243","https://openalex.org/W2110405746","https://openalex.org/W2112669647","https://openalex.org/W2118529354","https://openalex.org/W2123213117","https://openalex.org/W2159669279","https://openalex.org/W2161338791","https://openalex.org/W2169836061","https://openalex.org/W2179042386","https://openalex.org/W2194775991","https://openalex.org/W2284029970","https://openalex.org/W2340897893","https://openalex.org/W2342383553","https://openalex.org/W2402905761","https://openalex.org/W2558027072","https://openalex.org/W2563705555","https://openalex.org/W2580440899","https://openalex.org/W2589016937","https://openalex.org/W2618530766","https://openalex.org/W2618867898","https://openalex.org/W2626354520","https://openalex.org/W2732026016","https://openalex.org/W2740418457","https://openalex.org/W2748551393","https://openalex.org/W2773558369","https://openalex.org/W2793805028","https://openalex.org/W2800142021","https://openalex.org/W2883168056","https://openalex.org/W2884148180","https://openalex.org/W2905820301","https://openalex.org/W2914693969","https://openalex.org/W2914993068","https://openalex.org/W2916040547","https://openalex.org/W2919115771","https://openalex.org/W2939122829","https://openalex.org/W2949152168","https://openalex.org/W2951464485","https://openalex.org/W2964157791","https://openalex.org/W2964290573","https://openalex.org/W2966081953","https://openalex.org/W2968352263","https://openalex.org/W2979058050","https://openalex.org/W6601039244","https://openalex.org/W6606343831","https://openalex.org/W6631190155","https://openalex.org/W6637373629","https://openalex.org/W6639283537","https://openalex.org/W6674330103","https://openalex.org/W6693397755","https://openalex.org/W6731334075","https://openalex.org/W6747967427","https://openalex.org/W6763392795","https://openalex.org/W6767852442","https://openalex.org/W6768468031"],"related_works":[],"abstract_inverted_index":{"State-of-the-art":[0],"algorithms":[1],"for":[2,61,182,186,190],"visual":[3,8],"place":[4,54],"recognition,":[5],"and":[6,31,52,92,149,165,188,196],"related":[7],"navigation":[9,41],"systems,":[10],"can":[11],"be":[12],"broadly":[13],"split":[14],"into":[15],"two":[16,68,157],"categories:":[17,74],"computer-science-oriented":[18],"models":[19,71],"including":[20],"deep":[21],"learning":[22],"or":[23],"image":[24],"retrieval-based":[25],"techniques":[26],"with":[27,115,161],"minimal":[28],"biological":[29],"plausibility,":[30],"neuroscience-oriented":[32],"dynamical":[33],"networks":[34],"that":[35,57,135],"model":[36,56,114],"temporal":[37,118],"properties":[38],"underlying":[39],"spatial":[40],"in":[42,128,139],"the":[43,62,106,116,133],"brain.":[44],"In":[45],"this":[46,59],"letter,":[47],"we":[48],"propose":[49],"anew":[50],"compact":[51,107,124],"high-performing":[53],"recognition":[55,109],"bridges":[58],"divide":[60],"first":[63],"time.":[64],"Our":[65],"approach":[66],"comprises":[67],"key":[69],"neural":[70,81,98,131],"of":[72,87,111,121],"these":[73],"(1)":[75],"FlyNet,":[76],"a":[77,94,129],"compact,":[78],"sparse":[79],"two-layer":[80],"network":[82,99,104],"inspired":[83],"by":[84],"brain":[85],"architectures":[86],"fruit":[88],"flies,":[89],"Drosophila":[90],"melanogaster,":[91],"(2)":[93],"one-dimensional":[95],"continuous":[96],"attractor":[97],"(CANN).":[100],"The":[101],"resulting":[102],"FlyNet+CANN":[103],"incorporates":[105],"pattern":[108],"capabilities":[110,120],"our":[112,147],"FlyNet":[113],"powerful":[117],"filtering":[119],"an":[122],"equally":[123],"CANN,":[125],"replicating":[126],"entirely":[127],"hybrid":[130],"implementation":[132],"functionality":[134],"yields":[136],"high":[137],"performance":[138],"algorithmic":[140],"localization":[141],"approaches":[142],"like":[143],"SeqSLAM.":[144],"We":[145],"evaluate":[146],"model,":[148],"compare":[150],"it":[151],"to":[152,176,180],"three":[153],"state-of-the-art":[154],"methods,":[155],"on":[156],"benchmark":[158],"real-world":[159],"datasets":[160],"small":[162],"viewpoint":[163],"variations":[164],"extreme":[166],"environmental":[167],"changes":[168],"-":[169],"achieving":[170],"87%":[171],"AUC":[172],"results":[173],"under":[174],"day":[175],"night":[177],"transitions":[178],"compared":[179],"60%":[181],"Multi-Process":[183],"Fusion,":[184],"46%":[185],"LoST-X":[187],"1%":[189],"SeqSLAM,":[191],"while":[192],"being":[193],"6.5,":[194],"310,":[195],"1.5":[197],"times":[198],"faster,":[199],"respectively.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-01-23T00:00:00"}
