{"id":"https://openalex.org/W4285294272","doi":"https://doi.org/10.1109/lra.2022.3184797","title":"Leveraging Local Planar Motion Property for Robust Visual Matching and Localization","display_name":"Leveraging Local Planar Motion Property for Robust Visual Matching and Localization","publication_year":2022,"publication_date":"2022-06-20","ids":{"openalex":"https://openalex.org/W4285294272","doi":"https://doi.org/10.1109/lra.2022.3184797"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3184797","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3184797","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":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088433220","display_name":"Yanmei Jiao","orcid":"https://orcid.org/0000-0002-5169-6111"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yanmei Jiao","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005299473","display_name":"Qunkang Zhang","orcid":"https://orcid.org/0000-0002-9137-7131"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qunkang Zhang","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030416716","display_name":"Qunying Chen","orcid":"https://orcid.org/0000-0002-1918-0326"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qunying Chen","raw_affiliation_strings":["Hangzhou Jiazhi Technology Company, Ltd., Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Hangzhou Jiazhi Technology Company, Ltd., Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009028269","display_name":"Bo Fu","orcid":"https://orcid.org/0000-0002-9332-5933"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bo Fu","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075507033","display_name":"Fuzhang Han","orcid":"https://orcid.org/0000-0002-3992-2024"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fuzhang Han","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5088433220"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8681,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.92193464,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"7","issue":"3","first_page":"7589","last_page":"7596"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9994999766349792,"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":0.9958999752998352,"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/robustness","display_name":"Robustness (evolution)","score":0.7721129655838013},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7340089082717896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6550918817520142},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.6535042524337769},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6302083134651184},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5651721954345703},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.48249077796936035},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.42718690633773804},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.42624184489250183},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.4215555489063263},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4014109671115875},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.32317420840263367},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15705260634422302}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7721129655838013},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7340089082717896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6550918817520142},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.6535042524337769},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6302083134651184},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5651721954345703},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.48249077796936035},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.42718690633773804},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.42624184489250183},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.4215555489063263},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4014109671115875},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.32317420840263367},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15705260634422302},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3184797","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3184797","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.5299999713897705}],"awards":[{"id":"https://openalex.org/G2586965523","display_name":null,"funder_award_id":"61903332","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6694677545","display_name":null,"funder_award_id":"LGG21F030012","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1489822167","https://openalex.org/W1989484209","https://openalex.org/W1991544872","https://openalex.org/W2052094314","https://openalex.org/W2085261163","https://openalex.org/W2097649661","https://openalex.org/W2117228865","https://openalex.org/W2151103935","https://openalex.org/W2213387816","https://openalex.org/W2278591674","https://openalex.org/W2584979312","https://openalex.org/W2740418457","https://openalex.org/W2747517534","https://openalex.org/W2795158114","https://openalex.org/W2897085414","https://openalex.org/W2951019013","https://openalex.org/W2962705366","https://openalex.org/W2963324085","https://openalex.org/W2963748588","https://openalex.org/W2966086069","https://openalex.org/W2978549732","https://openalex.org/W3015620633","https://openalex.org/W3034258123","https://openalex.org/W3034275286","https://openalex.org/W3035564402","https://openalex.org/W3036919210","https://openalex.org/W3043075211","https://openalex.org/W3047057232","https://openalex.org/W3049117435","https://openalex.org/W3089936780","https://openalex.org/W3103425100","https://openalex.org/W3122213563","https://openalex.org/W3131269190","https://openalex.org/W3175295430","https://openalex.org/W3201181723","https://openalex.org/W3206074309","https://openalex.org/W6764177528","https://openalex.org/W6780901898"],"related_works":["https://openalex.org/W2038416447","https://openalex.org/W2364151838","https://openalex.org/W2787993192","https://openalex.org/W1972035260","https://openalex.org/W2066926363","https://openalex.org/W2354159744","https://openalex.org/W2158269427","https://openalex.org/W4381280689","https://openalex.org/W3033859939","https://openalex.org/W2351539857"],"abstract_inverted_index":{"One":[0],"primary":[1],"difficulty":[2],"preventing":[3],"the":[4,11,43,77,90,105,110,117,192,202,205],"visual":[5,129],"localization":[6,130,142,182],"for":[7,59,123,173],"service":[8],"robots":[9],"is":[10,56,107,132,135,177],"robustness":[12,91],"against":[13],"changes,":[14,47],"including":[15,48],"environmental":[16,46,196],"changes":[17,50,147,197,200],"and":[18,32,51,80,198],"perspective":[19,64,93,146,199],"changes.":[20,53,65,94],"In":[21,66,169],"recent":[22],"years,":[23],"learning-based":[24],"feature":[25,39,84,97],"matching":[26,40,85,98,102],"methods":[27],"have":[28],"been":[29],"widely":[30],"studied":[31],"effectively":[33,41],"verified":[34],"in":[35,141,148,188],"practical":[36],"applications.":[37],"Learning-based":[38],"solves":[42],"problem":[44],"of":[45,204],"illumination":[49],"man-made":[52],"However,":[54],"there":[55],"still":[57],"room":[58],"improvement":[60,140],"dealing":[61],"with":[62,116,165,183,195],"large":[63,145],"this":[67],"letter,":[68],"we":[69],"leverage":[70],"local":[71],"planar":[72],"motion":[73,118],"property":[74,119],"to":[75,92,137,179],"simplify":[76],"affine":[78,112],"transform":[79],"propose":[81],"an":[82,126],"augmentation-based":[83],"method":[86],"that":[87],"greatly":[88],"enhances":[89],"The":[95],"proposed":[96,133,206],"approach":[99],"maintains":[100],"low":[101],"costs":[103],"as":[104],"augmentation":[106],"performed":[108],"on":[109,191],"simplified":[111],"matrix":[113],"space.":[114],"Combined":[115],"aided":[120],"minimal":[121],"solution":[122],"pose":[124],"estimation,":[125],"end-to-end":[127],"robust":[128,181],"system":[131],"which":[134],"shown":[136],"bring":[138],"67%":[139],"performance":[143],"under":[144],"publicly":[149],"available":[150],"OpenLORIS":[151],"dataset,":[152],"while":[153],"increasing":[154],"computational":[155],"cost":[156],"by":[157,160],"only":[158],"20%":[159],"using":[161],"batch":[162],"processing":[163],"techniques":[164],"a":[166,171],"single":[167],"GPU.":[168],"addition,":[170],"guide":[172],"map":[174,186],"frame":[175],"selection":[176],"presented":[178],"support":[180],"very":[184],"sparse":[185],"frames":[187],"storage.":[189],"Experiments":[190],"classified":[193],"dataset":[194],"validate":[201],"effectiveness":[203],"system.":[207]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}