{"id":"https://openalex.org/W3135089179","doi":"https://doi.org/10.1109/lra.2021.3067281","title":"Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching","display_name":"Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching","publication_year":2021,"publication_date":"2021-03-18","ids":{"openalex":"https://openalex.org/W3135089179","doi":"https://doi.org/10.1109/lra.2021.3067281","mag":"3135089179"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3067281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3067281","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.03395","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001229421","display_name":"Tu-Hoa Pham","orcid":"https://orcid.org/0000-0002-9678-8669"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tu-Hoa Pham","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9678-8669","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006078838","display_name":"William Seto","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Seto","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078247828","display_name":"Shreyansh Daftry","orcid":"https://orcid.org/0000-0002-0157-5944"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shreyansh Daftry","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0157-5944","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032201984","display_name":"Barry Ridge","orcid":"https://orcid.org/0000-0002-7240-8182"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Barry Ridge","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7240-8182","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109388467","display_name":"Johanna Hansen","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Johanna Hansen","raw_affiliation_strings":["McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada","[McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada","institution_ids":["https://openalex.org/I5023651","https://openalex.org/I74973139"]},{"raw_affiliation_string":"[McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada]","institution_ids":["https://openalex.org/I5023651","https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026811404","display_name":"Tristan Thrush","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Tristan Thrush","raw_affiliation_strings":["McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada","[McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada","institution_ids":["https://openalex.org/I5023651","https://openalex.org/I74973139"]},{"raw_affiliation_string":"[McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada]","institution_ids":["https://openalex.org/I5023651","https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042652043","display_name":"Mark Van der Merwe","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Mark Van der Merwe","raw_affiliation_strings":["McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada","[McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada","institution_ids":["https://openalex.org/I5023651","https://openalex.org/I74973139"]},{"raw_affiliation_string":"[McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada]","institution_ids":["https://openalex.org/I5023651","https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049640070","display_name":"Gerard Maggiolino","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Gerard Maggiolino","raw_affiliation_strings":["McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada","[McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada","institution_ids":["https://openalex.org/I5023651","https://openalex.org/I74973139"]},{"raw_affiliation_string":"[McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada]","institution_ids":["https://openalex.org/I5023651","https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088284608","display_name":"Alexander Brinkman","orcid":"https://orcid.org/0000-0002-5406-2202"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Brinkman","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003787376","display_name":"John Mayo","orcid":"https://orcid.org/0000-0002-6524-4992"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Mayo","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101576021","display_name":"Yang Cheng","orcid":"https://orcid.org/0000-0002-6785-7776"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang Cheng","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6785-7776","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000867705","display_name":"Curtis Padgett","orcid":"https://orcid.org/0000-0003-2390-0258"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Curtis Padgett","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2390-0258","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037788634","display_name":"Eric Kulczycki","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Kulczycki","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of  Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049896600","display_name":"Renaud Detry","orcid":"https://orcid.org/0000-0003-0597-1167"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Renaud Detry","raw_affiliation_strings":["McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada","[McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada]"],"raw_orcid":"https://orcid.org/0000-0003-0597-1167","affiliations":[{"raw_affiliation_string":"McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada","institution_ids":["https://openalex.org/I5023651","https://openalex.org/I74973139"]},{"raw_affiliation_string":"[McGill University, Facebook AI Research, University of Michigan, Carnegie Mellon University, Universit\u00e9 catholique de Louvain, Montreal, QC, Canada]","institution_ids":["https://openalex.org/I5023651","https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03823588,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":"2","first_page":"4009","last_page":"4016"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9958000183105469,"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/terrain","display_name":"Terrain","score":0.7745224237442017},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.7391717433929443},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7099732160568237},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6873507499694824},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.5583904981613159},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5274372696876526},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5112881660461426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4800063967704773},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4736008942127228},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4387321174144745},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20149555802345276},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.15922147035598755},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1481117606163025},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.11246788501739502},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08155789971351624}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7745224237442017},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.7391717433929443},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7099732160568237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6873507499694824},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.5583904981613159},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5274372696876526},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5112881660461426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4800063967704773},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4736008942127228},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4387321174144745},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20149555802345276},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.15922147035598755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1481117606163025},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.11246788501739502},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08155789971351624},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"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/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/lra.2021.3067281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3067281","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:arXiv.org:2103.03395","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.03395","pdf_url":"https://arxiv.org/pdf/2103.03395","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":null,"raw_type":"text"},{"id":"pmh:oai:dial.uclouvain.be:boreal:254166","is_oa":true,"landing_page_url":"http://hdl.handle.net/2078.1/254166","pdf_url":null,"source":{"id":"https://openalex.org/S4306400166","display_name":"Digital Access to Libraries","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800384882","host_organization_name":"Harris County Public Library","host_organization_lineage":["https://openalex.org/I2800384882"],"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, Vol. 6, no.2, p. 4009-4016 (2021)","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.48550/arxiv.2103.03395","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.03395","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"},{"id":"doi:10.22002/d1.1898","is_oa":true,"landing_page_url":"https://doi.org/10.22002/d1.1898","pdf_url":null,"source":{"id":"https://openalex.org/S7407050845","display_name":"CaltechDATA","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":"Dataset"},{"id":"doi:10.22002/en0vr-4xh76","is_oa":true,"landing_page_url":"https://doi.org/10.22002/en0vr-4xh76","pdf_url":null,"source":{"id":"https://openalex.org/S7407050845","display_name":"CaltechDATA","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":"Dataset"},{"id":"mag:3135089179","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.03395","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.03395","pdf_url":"https://arxiv.org/pdf/2103.03395","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":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.5,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W8177059","https://openalex.org/W1507009174","https://openalex.org/W1508648480","https://openalex.org/W1518580144","https://openalex.org/W1562320275","https://openalex.org/W1869500417","https://openalex.org/W1990357615","https://openalex.org/W1998728242","https://openalex.org/W2003919215","https://openalex.org/W2038390631","https://openalex.org/W2049981393","https://openalex.org/W2069635875","https://openalex.org/W2070682236","https://openalex.org/W2073761981","https://openalex.org/W2085261163","https://openalex.org/W2089224440","https://openalex.org/W2122960540","https://openalex.org/W2128019145","https://openalex.org/W2151103935","https://openalex.org/W2152864241","https://openalex.org/W2168676389","https://openalex.org/W2169568093","https://openalex.org/W2419396125","https://openalex.org/W2461937780","https://openalex.org/W2471962767","https://openalex.org/W2473222174","https://openalex.org/W2522940611","https://openalex.org/W2561611286","https://openalex.org/W2604139401","https://openalex.org/W2738259787","https://openalex.org/W2740418457","https://openalex.org/W2928530452","https://openalex.org/W2964907000","https://openalex.org/W2968505755","https://openalex.org/W2969050209","https://openalex.org/W2969121634","https://openalex.org/W2998917800","https://openalex.org/W2999597893","https://openalex.org/W3034450565","https://openalex.org/W3080475915","https://openalex.org/W3104804161","https://openalex.org/W3124420883","https://openalex.org/W3172283808","https://openalex.org/W4231248300","https://openalex.org/W6754362138","https://openalex.org/W6797092906"],"related_works":["https://openalex.org/W1527111619","https://openalex.org/W2743121999","https://openalex.org/W2566935187","https://openalex.org/W2121971662","https://openalex.org/W3167004715","https://openalex.org/W164604699","https://openalex.org/W131122401","https://openalex.org/W3081129570","https://openalex.org/W119910808","https://openalex.org/W1487074594","https://openalex.org/W2374923871","https://openalex.org/W2338628995","https://openalex.org/W2948093926","https://openalex.org/W2514539383","https://openalex.org/W26391653","https://openalex.org/W2546870607","https://openalex.org/W2626012159","https://openalex.org/W1870492203","https://openalex.org/W2378861506","https://openalex.org/W2138215666"],"abstract_inverted_index":{"We":[0,51,102],"consider":[1],"the":[2,8,11,60,113,126,134,140],"problem":[3],"of":[4,10,27,36,88,115,128,142,152],"rover":[5,21,49,160],"relocalization":[6],"in":[7,69],"context":[9],"notional":[12],"Mars":[13,135],"Sample":[14,136],"Return":[15,137],"campaign.":[16],"In":[17],"this":[18],"campaign,":[19],"a":[20,53,89,107,143,150],"(R1)":[22],"needs":[23],"to":[24,59,67,73,99],"be":[25],"capable":[26],"autonomously":[28],"navigating":[29],"and":[30,72,76,81,96],"localizing":[31],"itself":[32],"within":[33],"an":[34],"area":[35],"approximately":[37],"50":[38],"\u00d750":[39],"m":[40],"using":[41],"reference":[42,93],"images":[43,95,111],"collected":[44],"years":[45],"earlier":[46],"by":[47,158],"another":[48,159],"(R0).":[50],"propose":[52],"visual":[54],"localizer":[55,84],"that":[56,64],"exhibits":[57],"robustness":[58],"relatively":[61],"barren":[62],"terrain":[63],"we":[65],"expect":[66],"find":[68],"relevant":[70],"areas,":[71],"large":[74],"lighting":[75],"viewpoint":[77],"differences":[78],"between":[79],"R0":[80,94],"R1.":[82],"The":[83],"synthesizes":[85],"partial":[86],"renderings":[87],"mesh":[90],"built":[91],"from":[92],"matches":[97],"those":[98],"R1":[100],"images.":[101],"evaluate":[103],"our":[104,129],"method":[105],"on":[106,139],"dataset":[108],"totaling":[109],"2160":[110],"covering":[112],"range":[114],"expected":[116],"environmental":[117],"conditions":[118],"(terrain,":[119],"lighting,":[120],"approach":[121],"angle).":[122],"Experimental":[123],"results":[124],"show":[125],"effectiveness":[127],"approach.":[130],"This":[131],"work":[132],"informs":[133],"campaign":[138],"choice":[141],"site":[144],"where":[145],"Perseverance":[146],"(R0)":[147],"will":[148],"place":[149],"set":[151],"sample":[153],"tubes":[154],"for":[155],"future":[156],"retrieval":[157],"(R1).":[161]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2021-03-15T00:00:00"}
