{"id":"https://openalex.org/W4313306352","doi":"https://doi.org/10.1109/lra.2022.3233235","title":"Indoor Visual Re-Localization for Long-Term Autonomous Robots Based on Object-Level Features and Semantic Relationships","display_name":"Indoor Visual Re-Localization for Long-Term Autonomous Robots Based on Object-Level Features and Semantic Relationships","publication_year":2022,"publication_date":"2022-12-30","ids":{"openalex":"https://openalex.org/W4313306352","doi":"https://doi.org/10.1109/lra.2022.3233235"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3233235","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3233235","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":["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/A5076155410","display_name":"Yuanyan Xie","orcid":"https://orcid.org/0000-0002-0063-9782"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanyan Xie","raw_affiliation_strings":["School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0063-9782","affiliations":[{"raw_affiliation_string":"School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034630340","display_name":"Yu Guo","orcid":"https://orcid.org/0000-0002-7560-0225"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Guo","raw_affiliation_strings":["School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China","Shunde Innovation School, University of Science and Technology Beijing, Foshan, China"],"raw_orcid":"https://orcid.org/0000-0002-7560-0225","affiliations":[{"raw_affiliation_string":"School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"Shunde Innovation School, University of Science and Technology Beijing, Foshan, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074559237","display_name":"Zhenqiang Mi","orcid":"https://orcid.org/0000-0002-5908-1162"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenqiang Mi","raw_affiliation_strings":["School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5908-1162","affiliations":[{"raw_affiliation_string":"School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100677512","display_name":"Xiaokun Wang","orcid":"https://orcid.org/0000-0003-4160-5316"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]},{"id":"https://openalex.org/I9300472","display_name":"Bournemouth University","ror":"https://ror.org/05wwcw481","country_code":"GB","type":"education","lineage":["https://openalex.org/I9300472"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Xiaokun Wang","raw_affiliation_strings":["School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China","National Center for Computer Animation, Faculty of Media and Communication, Bournemouth University, Poole, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"National Center for Computer Animation, Faculty of Media and Communication, Bournemouth University, Poole, U.K","institution_ids":["https://openalex.org/I9300472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100397598","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0002-4607-0501"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051195514","display_name":"Mohammad S. Obaidat","orcid":"https://orcid.org/0000-0002-1569-9657"},"institutions":[{"id":"https://openalex.org/I114580094","display_name":"The University of Texas of the Permian Basin","ror":"https://ror.org/051smbs96","country_code":"US","type":"education","lineage":["https://openalex.org/I114580094"]},{"id":"https://openalex.org/I114972647","display_name":"University of Jordan","ror":"https://ror.org/05k89ew48","country_code":"JO","type":"education","lineage":["https://openalex.org/I114972647"]},{"id":"https://openalex.org/I191972202","display_name":"Amity University","ror":"https://ror.org/02n9z0v62","country_code":"IN","type":"education","lineage":["https://openalex.org/I191972202"]},{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN","IN","JO","US"],"is_corresponding":false,"raw_author_name":"Mohammad S. Obaidat","raw_affiliation_strings":["School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China","Amity University, Noida, India","Computer science department and the Cybersecurity Center, University of Texas-Permian Basin, Odessa, TX, USA","King Abdullah II School of Information Technology, University of Jordan, Amman, Jordan"],"raw_orcid":"https://orcid.org/0000-0002-1569-9657","affiliations":[{"raw_affiliation_string":"School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"Amity University, Noida, India","institution_ids":["https://openalex.org/I191972202"]},{"raw_affiliation_string":"Computer science department and the Cybersecurity Center, University of Texas-Permian Basin, Odessa, TX, USA","institution_ids":["https://openalex.org/I114580094"]},{"raw_affiliation_string":"King Abdullah II School of Information Technology, University of Jordan, Amman, Jordan","institution_ids":["https://openalex.org/I114972647"]}]}],"institutions":[],"countries_distinct_count":5,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.257,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.91606004,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"8","issue":"2","first_page":"840","last_page":"847"},"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":0.9991000294685364,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9957000017166138,"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/computer-science","display_name":"Computer science","score":0.7813392877578735},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6899206638336182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6540249586105347},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6325486302375793},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6006253957748413},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5455819964408875},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5342976450920105},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.49737074971199036},{"id":"https://openalex.org/keywords/feature-matching","display_name":"Feature matching","score":0.47088131308555603},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4587315618991852},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.45560991764068604},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4345123767852783},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4159836769104004},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4101869761943817},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.2375686764717102},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10478687286376953},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07226258516311646}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7813392877578735},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6899206638336182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6540249586105347},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6325486302375793},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6006253957748413},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5455819964408875},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5342976450920105},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.49737074971199036},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.47088131308555603},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4587315618991852},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.45560991764068604},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4345123767852783},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4159836769104004},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4101869761943817},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2375686764717102},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10478687286376953},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07226258516311646},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3233235","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3233235","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1587878450","https://openalex.org/W1816257748","https://openalex.org/W1989484209","https://openalex.org/W2033819227","https://openalex.org/W2117228865","https://openalex.org/W2151103935","https://openalex.org/W2166820607","https://openalex.org/W2435294582","https://openalex.org/W2737075200","https://openalex.org/W2740418457","https://openalex.org/W2887751724","https://openalex.org/W2938672559","https://openalex.org/W2945292915","https://openalex.org/W2951019013","https://openalex.org/W2962705366","https://openalex.org/W2963256208","https://openalex.org/W2983134350","https://openalex.org/W3039925688","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3092669602","https://openalex.org/W3098467253","https://openalex.org/W3107919704","https://openalex.org/W3108543662","https://openalex.org/W3131682659","https://openalex.org/W3183768538","https://openalex.org/W3205388591","https://openalex.org/W4226058932","https://openalex.org/W4226062615","https://openalex.org/W4285784610","https://openalex.org/W4293199040"],"related_works":["https://openalex.org/W2010725720","https://openalex.org/W4310066305","https://openalex.org/W2350424104","https://openalex.org/W2152949619","https://openalex.org/W1090580760","https://openalex.org/W2389991515","https://openalex.org/W4365793569","https://openalex.org/W1973922169","https://openalex.org/W2360523411","https://openalex.org/W2499438468"],"abstract_inverted_index":{"Visual":[0],"re-localization":[1,56,65,100,144],"has":[2,146],"become":[3],"one":[4],"of":[5,36,88,137],"the":[6,31,34,51,86,93,106,135,174],"key":[7],"technologies":[8,115],"for":[9,67,124],"long-term":[10,68],"autonomous":[11,69],"robots.":[12,70],"Existing":[13],"methods,":[14],"mostly":[15],"focusing":[16],"on":[17,105],"addressing":[18],"day-night,":[19],"weather,":[20],"and":[21,81,126,154,170],"seasonal":[22],"changes,":[23],"are":[24,41],"not":[25],"applicable":[26],"in":[27,38,139,149],"indoor":[28,39,55,63],"scenarios.":[29,156],"At":[30],"same":[32],"time,":[33],"layouts":[35],"objects":[37,90],"scenes":[40],"highly":[42],"dynamic":[43,89,140],"over":[44],"time":[45],"due":[46],"to":[47,116,132,166,173],"human":[48],"interactions":[49,94,120],"with":[50],"environment,":[52],"which":[53,84],"makes":[54],"challenging.":[57],"This":[58],"letter":[59],"presents":[60],"a":[61,72,98,128],"novel":[62],"visual":[64,99],"method":[66,101,145],"First,":[71],"scene":[73,108],"graph":[74,109,113],"model":[75],"is":[76,102],"proposed,":[77],"incorporating":[78],"object-level":[79],"features":[80,123],"semantic":[82],"relationships,":[83],"overcomes":[85],"influence":[87],"by":[91],"understanding":[92],"among":[95],"objects.":[96],"Then,":[97],"developed":[103],"based":[104],"proposed":[107,143],"model.":[110],"It":[111],"adopts":[112],"matching":[114],"incorporate":[117],"pairwise":[118],"object":[119,168],"as":[121],"important":[122],"re-localization,":[125],"designs":[127],"feature":[129],"reweighting":[130],"strategy":[131],"further":[133],"reduce":[134],"impact":[136],"outliers":[138],"scenes.":[141],"The":[142,157],"been":[147],"verified":[148],"both":[150],"photorealistic":[151],"simulation":[152],"environments":[153],"real-world":[155],"results":[158],"show":[159],"that":[160],"our":[161],"approach":[162],"exhibits":[163],"higher":[164],"robustness":[165],"diverse":[167],"changes":[169,179],"performs":[171],"comparably":[172],"state-of-the-art":[175],"methods":[176],"when":[177],"illumination":[178],"occur.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
