{"id":"https://openalex.org/W4210786584","doi":"https://doi.org/10.1109/lra.2022.3147257","title":"MultiRes-NetVLAD: Augmenting Place Recognition Training With Low-Resolution Imagery","display_name":"MultiRes-NetVLAD: Augmenting Place Recognition Training With Low-Resolution Imagery","publication_year":2022,"publication_date":"2022-02-01","ids":{"openalex":"https://openalex.org/W4210786584","doi":"https://doi.org/10.1109/lra.2022.3147257"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3147257","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3147257","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/2202.09146","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032948273","display_name":"Ahmad Khaliq","orcid":"https://orcid.org/0000-0002-7878-9369"},"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":"Ahmad Khaliq","raw_affiliation_strings":["School of Electrical Engineering and Robotics and QUT Centre of Robotics, Queensland University of Technology, Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0002-7878-9369","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Robotics and QUT Centre of Robotics, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"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/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 Robotics and QUT Centre of Robotics, 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 Robotics and QUT Centre of Robotics, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089947531","display_name":"Sourav Garg","orcid":"https://orcid.org/0000-0001-6068-3307"},"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":"Sourav Garg","raw_affiliation_strings":["School of Electrical Engineering and Robotics and QUT Centre of Robotics, Queensland University of Technology, Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0001-6068-3307","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Robotics and QUT Centre of Robotics, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":27.1011,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.99460914,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"3882","last_page":"3889"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9976999759674072,"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/pyramid","display_name":"Pyramid (geometry)","score":0.7879903316497803},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7564536333084106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7081568241119385},{"id":"https://openalex.org/keywords/concatenation","display_name":"Concatenation (mathematics)","score":0.6821928024291992},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6166220307350159},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5697317719459534},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.5643249750137329},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.525334358215332},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.5162689685821533},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.46270516514778137},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.46013110876083374},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.440400630235672},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.4325478672981262},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4160691499710083},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08448082208633423}],"concepts":[{"id":"https://openalex.org/C142575187","wikidata":"https://www.wikidata.org/wiki/Q3358290","display_name":"Pyramid (geometry)","level":2,"score":0.7879903316497803},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7564536333084106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7081568241119385},{"id":"https://openalex.org/C87619178","wikidata":"https://www.wikidata.org/wiki/Q126002","display_name":"Concatenation (mathematics)","level":2,"score":0.6821928024291992},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6166220307350159},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5697317719459534},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.5643249750137329},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.525334358215332},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.5162689685821533},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.46270516514778137},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.46013110876083374},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.440400630235672},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.4325478672981262},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4160691499710083},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08448082208633423},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2022.3147257","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3147257","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:2202.09146","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.09146","pdf_url":"https://arxiv.org/pdf/2202.09146","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:eprints.qut.edu.au:229567","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"Contribution to Journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2202.09146","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.09146","pdf_url":"https://arxiv.org/pdf/2202.09146","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":[{"id":"https://metadata.un.org/sdg/17","score":0.4099999964237213,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":74,"referenced_works":["https://openalex.org/W1532257412","https://openalex.org/W1677409904","https://openalex.org/W1686810756","https://openalex.org/W1749678571","https://openalex.org/W1920702274","https://openalex.org/W1974093076","https://openalex.org/W2012592962","https://openalex.org/W2013270301","https://openalex.org/W2042243448","https://openalex.org/W2069479606","https://openalex.org/W2073761981","https://openalex.org/W2110405746","https://openalex.org/W2132311402","https://openalex.org/W2151103935","https://openalex.org/W2161969291","https://openalex.org/W2174726731","https://openalex.org/W2204975001","https://openalex.org/W2284029970","https://openalex.org/W2342383553","https://openalex.org/W2461937780","https://openalex.org/W2471962767","https://openalex.org/W2527172881","https://openalex.org/W2544587078","https://openalex.org/W2558027072","https://openalex.org/W2571761409","https://openalex.org/W2580440899","https://openalex.org/W2619522967","https://openalex.org/W2737075200","https://openalex.org/W2744874208","https://openalex.org/W2757631670","https://openalex.org/W2793805028","https://openalex.org/W2884148180","https://openalex.org/W2885052112","https://openalex.org/W2905820301","https://openalex.org/W2908797680","https://openalex.org/W2916040547","https://openalex.org/W2923531447","https://openalex.org/W2940791172","https://openalex.org/W2951019013","https://openalex.org/W2962720468","https://openalex.org/W2962891704","https://openalex.org/W2963588253","https://openalex.org/W2967242391","https://openalex.org/W2990519439","https://openalex.org/W2997164612","https://openalex.org/W3002374120","https://openalex.org/W3003290274","https://openalex.org/W3038064103","https://openalex.org/W3099455272","https://openalex.org/W3110076758","https://openalex.org/W3110536152","https://openalex.org/W3117040724","https://openalex.org/W3118885154","https://openalex.org/W3124420883","https://openalex.org/W3124676898","https://openalex.org/W3135588990","https://openalex.org/W3137393880","https://openalex.org/W3163149666","https://openalex.org/W3173643949","https://openalex.org/W3173736705","https://openalex.org/W3175281730","https://openalex.org/W3176602998","https://openalex.org/W3187923576","https://openalex.org/W3206622090","https://openalex.org/W3210861499","https://openalex.org/W4231697575","https://openalex.org/W4287664603","https://openalex.org/W4300614726","https://openalex.org/W6637373629","https://openalex.org/W6675402254","https://openalex.org/W6685522000","https://openalex.org/W6760777718","https://openalex.org/W6783184797","https://openalex.org/W6803506702"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687","https://openalex.org/W2000169967","https://openalex.org/W2112883198"],"abstract_inverted_index":{"Visual":[0],"Place":[1],"Recognition":[2],"(VPR)":[3],"is":[4,165],"a":[5,46,94],"crucial":[6],"component":[7],"of":[8,22,105],"6-DoF":[9],"localization,":[10],"visual":[11],"SLAM":[12],"and":[13,51,137],"structure-from-motion":[14],"pipelines,":[15],"tasked":[16],"to":[17,56,78,128,149],"generate":[18],"an":[19],"initial":[20],"list":[21],"place":[23,29,80],"match":[24],"hypotheses":[25],"by":[26],"matching":[27],"global":[28,154],"descriptors.":[30],"However,":[31],"commonly-used":[32],"CNN-based":[33],"methods":[34],"either":[35],"process":[36],"multiple":[37,106],"image":[38,73],"resolutions":[39],"<italic":[40,47,145],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[41,48,146,170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">after</i>":[42],"training":[43],"or":[44,103],"use":[45],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">single</i>":[49],"resolution":[50],"limit":[52],"multi-scale":[53,110,126],"feature":[54,85,119],"extraction":[55],"the":[57,99,116,143],"last":[58],"convolutional":[59],"layer":[60],"during":[61],"training.":[62],"In":[63],"this":[64],"paper,":[65],"we":[66,113],"augment":[67],"NetVLAD":[68],"representation":[69],"learning":[70],"with":[71,124],"low-resolution":[72],"pyramid":[74,86],"encoding":[75],"which":[76],"leads":[77,148],"richer":[79],"representations.":[81],"The":[82],"resultant":[83],"multi-resolution":[84],"can":[87,121],"be":[88,122],"conveniently":[89],"aggregated":[90],"through":[91],"VLAD":[92],"into":[93],"single":[95],"compact":[96],"representation,":[97],"avoiding":[98],"need":[100],"for":[101,153],"concatenation":[102],"summation":[104],"patches":[107],"in":[108],"recent":[109],"approaches.":[111],"Furthermore,":[112],"show":[114],"that":[115,142],"underlying":[117],"learnt":[118],"tensor":[120],"combined":[123],"existing":[125,161],"approaches":[127],"improve":[129],"their":[130],"baseline":[131],"performance.":[132],"Evaluation":[133],"on":[134],"15":[135],"viewpoint-varying":[136],"viewpoint-consistent":[138],"benchmarking":[139],"datasets":[140],"confirm":[141],"proposed":[144],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">MultiRes-NetVLAD</i>":[147],"state-of-the-art":[150],"Recall@N":[151],"performance":[152],"descriptor":[155],"based":[156],"retrieval,":[157],"compared":[158],"against":[159],"11":[160],"techniques.":[162],"Source":[163],"code":[164],"publicly":[166],"available":[167],"at":[168],"<uri":[169],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/Ahmedest61/MultiRes-NetVLAD</uri>":[171],".":[172]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}