{"id":"https://openalex.org/W3197878128","doi":"https://doi.org/10.1109/lra.2022.3154035","title":"Learning Cross-Scale Visual Representations for Real-Time Image Geo-Localization","display_name":"Learning Cross-Scale Visual Representations for Real-Time Image Geo-Localization","publication_year":2022,"publication_date":"2022-02-24","ids":{"openalex":"https://openalex.org/W3197878128","doi":"https://doi.org/10.1109/lra.2022.3154035","mag":"3197878128"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3154035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3154035","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"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2109.04087","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100437441","display_name":"Tianyi Zhang","orcid":"https://orcid.org/0000-0001-6758-7203"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianyi Zhang","raw_affiliation_strings":["Robotics Institute and the Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","Robotics Institute and the Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI 48109, USA"],"raw_orcid":"https://orcid.org/0000-0001-6758-7203","affiliations":[{"raw_affiliation_string":"Robotics Institute and the Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Robotics Institute and the Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Johnson-Roberson","raw_affiliation_strings":["Robotics Institute and the Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","Robotics Institute and the Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI 48109, USA"],"raw_orcid":"https://orcid.org/0000-0002-0506-907X","affiliations":[{"raw_affiliation_string":"Robotics Institute and the Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Robotics Institute and the Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3825,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.926187,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"7","issue":"2","first_page":"5087","last_page":"5094"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9993000030517578,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7544598579406738},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6320016384124756},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5933858752250671},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5699396133422852},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5301721096038818},{"id":"https://openalex.org/keywords/geospatial-analysis","display_name":"Geospatial analysis","score":0.5205929279327393},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4945234954357147},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4913078844547272},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.486054927110672},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.48372605443000793},{"id":"https://openalex.org/keywords/contrast","display_name":"Contrast (vision)","score":0.46146586537361145},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.44734758138656616},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.43059882521629333},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.19418436288833618},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16822639107704163},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.0852251946926117},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08091327548027039}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7544598579406738},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6320016384124756},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5933858752250671},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5699396133422852},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5301721096038818},{"id":"https://openalex.org/C9770341","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Geospatial analysis","level":2,"score":0.5205929279327393},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4945234954357147},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4913078844547272},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.486054927110672},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.48372605443000793},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.46146586537361145},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.44734758138656616},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.43059882521629333},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.19418436288833618},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16822639107704163},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0852251946926117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08091327548027039},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3154035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3154035","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:2109.04087","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.04087","pdf_url":"https://arxiv.org/pdf/2109.04087","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2109.04087","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.04087","pdf_url":"https://arxiv.org/pdf/2109.04087","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W104184427","https://openalex.org/W1766701518","https://openalex.org/W1903029394","https://openalex.org/W1969058260","https://openalex.org/W2004773361","https://openalex.org/W2081418428","https://openalex.org/W2100483617","https://openalex.org/W2115992143","https://openalex.org/W2125059456","https://openalex.org/W2171559608","https://openalex.org/W2182229738","https://openalex.org/W2194775991","https://openalex.org/W2199890863","https://openalex.org/W2409469262","https://openalex.org/W2479919622","https://openalex.org/W2531979494","https://openalex.org/W2620629206","https://openalex.org/W2799087793","https://openalex.org/W2893256830","https://openalex.org/W2909063396","https://openalex.org/W2942893978","https://openalex.org/W2971132234","https://openalex.org/W2979484281","https://openalex.org/W2981635988","https://openalex.org/W2981670313","https://openalex.org/W3005680577","https://openalex.org/W3035158519","https://openalex.org/W3035524453","https://openalex.org/W3048631361","https://openalex.org/W3090401636","https://openalex.org/W3102662146","https://openalex.org/W3102692100","https://openalex.org/W3118608800","https://openalex.org/W3126493316","https://openalex.org/W4394659040","https://openalex.org/W6604254268","https://openalex.org/W6685664056","https://openalex.org/W6766729115","https://openalex.org/W6774314701","https://openalex.org/W6779739962","https://openalex.org/W6787972765","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W4367313141","https://openalex.org/W2004086023","https://openalex.org/W2733999579","https://openalex.org/W2110217573","https://openalex.org/W4283374591","https://openalex.org/W2910751785","https://openalex.org/W4362512700","https://openalex.org/W4366547507","https://openalex.org/W4390100400","https://openalex.org/W2074396925"],"abstract_inverted_index":{"Robot":[0],"localization":[1],"remains":[2],"a":[3,43,57,68],"challenging":[4],"task":[5],"in":[6,42,94,119],"GPS":[7],"denied":[8],"environments.":[9],"State":[10],"estimation":[11,123],"approaches":[12],"based":[13],"on":[14,80,103],"local":[15],"sensors,":[16],"e.g.":[17],"cameras":[18],"or":[19],"IMUs,":[20],"are":[21,78],"drifting-prone":[22],"for":[23,112],"long-range":[24],"missions":[25],"as":[26],"error":[27],"accumulates.":[28],"In":[29,89],"this":[30,36],"study,":[31],"we":[32],"aim":[33],"to":[34,59,91],"address":[35],"problem":[37],"by":[38],"localizing":[39],"image":[40,96],"observations":[41],"2D":[44],"multi-modal":[45,105],"geospatial":[46],"map.":[47],"We":[48,66],"introduce":[49],"the":[50],"cross-scale":[51,72],"<sup":[52,125],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[53,126],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[54],"dataset":[55],"and":[56,87],"methodology":[58],"produce":[60],"additional":[61],"data":[62,81],"from":[63,82],"cross-modality":[64],"sources.":[65],"propose":[67],"framework":[69],"that":[70],"learns":[71],"visual":[73],"representations":[74],"without":[75],"supervision.":[76],"Experiments":[77],"conducted":[79],"two":[83],"different":[84],"domains,":[85],"underwater":[86],"aerial.":[88],"contrast":[90],"existing":[92],"studies":[93],"cross-view":[95],"geo-localization,":[97],"our":[98],"approach":[99],"a)":[100],"performs":[101],"better":[102],"smaller-scale":[104],"maps;":[106],"b)":[107],"is":[108],"more":[109],"computationally":[110],"efficient":[111],"real-time":[113],"applications;":[114],"c)":[115],"can":[116],"serve":[117],"directly":[118],"concert":[120],"with":[121],"state":[122],"pipelines.":[124],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[127]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
