{"id":"https://openalex.org/W3129478634","doi":"https://doi.org/10.1109/lra.2021.3088779","title":"Improving Visual Place Recognition Performance by Maximising Complementarity","display_name":"Improving Visual Place Recognition Performance by Maximising Complementarity","publication_year":2021,"publication_date":"2021-06-29","ids":{"openalex":"https://openalex.org/W3129478634","doi":"https://doi.org/10.1109/lra.2021.3088779","mag":"3129478634"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3088779","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3088779","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09459537.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09459537.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064219682","display_name":"Maria Waheed","orcid":null},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maria Waheed","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex, Colchester, United Kingdom","(University of Essex"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex, Colchester, United Kingdom","institution_ids":["https://openalex.org/I110002522"]},{"raw_affiliation_string":"(University of Essex","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]},{"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","GB"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, QLD, Australia","(University of Essex"],"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"]},{"raw_affiliation_string":"(University of Essex","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077992830","display_name":"Klaus D. McDonald-Maier","orcid":"https://orcid.org/0000-0002-6412-8519"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Klaus McDonald-Maier","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex, Colchester, United Kingdom","(University of Essex"],"raw_orcid":"https://orcid.org/0000-0002-6412-8519","affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex, Colchester, United Kingdom","institution_ids":["https://openalex.org/I110002522"]},{"raw_affiliation_string":"(University of Essex","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103245109","display_name":"Shoaib Ehsan","orcid":"https://orcid.org/0000-0001-9631-1898"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]},{"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","GB"],"is_corresponding":false,"raw_author_name":"Shoaib Ehsan","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex, Colchester, United Kingdom","Queensland University of Technology.,"],"raw_orcid":"https://orcid.org/0000-0001-9631-1898","affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex, Colchester, United Kingdom","institution_ids":["https://openalex.org/I110002522"]},{"raw_affiliation_string":"Queensland University of Technology.,","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":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02310897,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":"3","first_page":"5976","last_page":"5983"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9991999864578247,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/complementarity","display_name":"Complementarity (molecular biology)","score":0.8860740065574646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7619813680648804},{"id":"https://openalex.org/keywords/mcnemars-test","display_name":"McNemar's test","score":0.656532883644104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4426708519458771},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.40394407510757446},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39733171463012695},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.38215744495391846},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3401261568069458},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15501272678375244}],"concepts":[{"id":"https://openalex.org/C202269582","wikidata":"https://www.wikidata.org/wiki/Q2644277","display_name":"Complementarity (molecular biology)","level":2,"score":0.8860740065574646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7619813680648804},{"id":"https://openalex.org/C186282968","wikidata":"https://www.wikidata.org/wiki/Q1434261","display_name":"McNemar's test","level":2,"score":0.656532883644104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4426708519458771},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.40394407510757446},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39733171463012695},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.38215744495391846},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3401261568069458},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15501272678375244},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2021.3088779","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3088779","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09459537.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:eprints.soton.ac.uk:473464","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401020","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:arXiv.org:2102.08416","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.08416","pdf_url":"https://arxiv.org/pdf/2102.08416","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":"mag:3129478634","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2102.08416","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.2102.08416","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2102.08416","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"}],"best_oa_location":{"id":"doi:10.1109/lra.2021.3088779","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3088779","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09459537.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2223601268","display_name":"Robust remote sensing for multi-modal characterisation in nuclear and other extreme environments","funder_award_id":"EP/P017487/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3739141303","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G3761795683","display_name":null,"funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G528393513","display_name":"National Centre for Nuclear Robotics (NCNR)","funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6552220756","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7795727766","display_name":null,"funder_award_id":"EP/P017487/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320330083","display_name":"National Centre for Nuclear Robotics","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3129478634.pdf","grobid_xml":"https://content.openalex.org/works/W3129478634.grobid-xml"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W26944259","https://openalex.org/W301022506","https://openalex.org/W1567186765","https://openalex.org/W1677409904","https://openalex.org/W1896543294","https://openalex.org/W1976174396","https://openalex.org/W2028697710","https://openalex.org/W2047328415","https://openalex.org/W2073761981","https://openalex.org/W2079967224","https://openalex.org/W2084413241","https://openalex.org/W2110405746","https://openalex.org/W2150290224","https://openalex.org/W2151103935","https://openalex.org/W2151167738","https://openalex.org/W2163605009","https://openalex.org/W2179042386","https://openalex.org/W2284029970","https://openalex.org/W2342383553","https://openalex.org/W2413255487","https://openalex.org/W2431874326","https://openalex.org/W2580440899","https://openalex.org/W2789373900","https://openalex.org/W2804951452","https://openalex.org/W2885965684","https://openalex.org/W2914616910","https://openalex.org/W2914993068","https://openalex.org/W2916040547","https://openalex.org/W2923531447","https://openalex.org/W2951019013","https://openalex.org/W2951399172","https://openalex.org/W2952038393","https://openalex.org/W2963166708","https://openalex.org/W2963479576","https://openalex.org/W2964156323","https://openalex.org/W2967842981","https://openalex.org/W2971023449","https://openalex.org/W2997164612","https://openalex.org/W3004557509","https://openalex.org/W3025930203","https://openalex.org/W3038064103","https://openalex.org/W3163149666","https://openalex.org/W6601039244","https://openalex.org/W6606343831","https://openalex.org/W6684191040","https://openalex.org/W6685522000","https://openalex.org/W6760777718","https://openalex.org/W6773371665","https://openalex.org/W6903945862"],"related_works":["https://openalex.org/W3017222518","https://openalex.org/W1002460645","https://openalex.org/W3202724793","https://openalex.org/W2109789699","https://openalex.org/W2158779453","https://openalex.org/W2595380919","https://openalex.org/W2250459530","https://openalex.org/W2107021927","https://openalex.org/W2945569004","https://openalex.org/W3125559414","https://openalex.org/W2584805731","https://openalex.org/W2565587197","https://openalex.org/W2605572715","https://openalex.org/W2478321994","https://openalex.org/W3085056114","https://openalex.org/W3092254252","https://openalex.org/W632762121","https://openalex.org/W2900952222","https://openalex.org/W2995463097","https://openalex.org/W2907468738"],"abstract_inverted_index":{"Visual":[0],"place":[1],"recognition":[2],"(VPR)":[3],"is":[4,38],"the":[5,20,29,39,86,94,102,129,151,187],"problem":[6],"of":[7,22,82,88,96,144,161,189,192],"recognising":[8],"a":[9,68,79,118,124,136],"previously":[10],"visited":[11],"location":[12],"using":[13],"visual":[14],"information.":[15],"Many":[16],"attempts":[17],"to":[18,57,127,154],"improve":[19],"performance":[21,164],"VPR":[23,44,76,98,152,163,179,184],"methods":[24,45,77,99,180],"have":[25,67],"been":[26],"made":[27],"in":[28,47,54,112],"literature.":[30],"One":[31],"approach":[32],"that":[33,165],"has":[34],"received":[35],"attention":[36],"recently":[37],"multi-process":[40,62],"fusion":[41],"where":[42],"different":[43,75,190],"run":[46],"parallel":[48],"and":[49,73,105,146],"their":[50],"outputs":[51],"are":[52,174],"combined":[53],"an":[55,159],"effort":[56],"achieve":[58],"better":[59,113,196],"performance.":[60,114,197],"The":[61,115,140],"fusion,":[63],"however,":[64],"does":[65],"not":[66],"well-defined":[69,119],"criterion":[70],"for":[71,101,150,176,194],"selecting":[72],"combining":[74],"from":[78],"wide":[80],"range":[81],"available":[83],"options.":[84],"To":[85],"best":[87],"our":[89],"knowledge,":[90],"this":[91,171],"paper":[92],"investigates":[93],"complementarity":[95,130,148],"state-of-the-art":[97,178],"systematically":[100],"first":[103],"time":[104],"identifies":[106],"those":[107],"combinations":[108,191],"which":[109,121],"can":[110],"result":[111],"letter":[116],"presents":[117],"framework":[120,141],"acts":[122],"as":[123],"sanity":[125],"check":[126],"find":[128],"between":[131],"two":[132],"techniques":[133,153,193],"by":[134],"utilising":[135],"McNemar's":[137],"test-like":[138],"approach.":[139],"allows":[142],"estimation":[143],"upper":[145],"lower":[147],"bounds":[149],"be":[155,167],"combined,":[156],"along":[157],"with":[158],"estimate":[160],"maximum":[162],"may":[166],"achieved.":[168],"Based":[169],"on":[170,181],"framework,":[172],"results":[173],"presented":[175],"eight":[177],"ten":[182],"widely-used":[183],"datasets":[185],"showing":[186],"potential":[188],"achieving":[195]},"counts_by_year":[],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}
