{"id":"https://openalex.org/W4366147750","doi":"https://doi.org/10.1109/lra.2023.3268015","title":"Learning Task-Aligned Local Features for Visual Localization","display_name":"Learning Task-Aligned Local Features for Visual Localization","publication_year":2023,"publication_date":"2023-04-17","ids":{"openalex":"https://openalex.org/W4366147750","doi":"https://doi.org/10.1109/lra.2023.3268015"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3268015","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2023.3268015","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/A5102934591","display_name":"Liu Chuan-jin","orcid":"https://orcid.org/0009-0003-6768-4566"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":"Chuanjin Liu","raw_affiliation_strings":["School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China","Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0003-6768-4566","affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100710109","display_name":"Hongmin Liu","orcid":"https://orcid.org/0000-0001-9834-4087"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":"Hongmin Liu","raw_affiliation_strings":["School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China","Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9834-4087","affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100427815","display_name":"Lixin Zhang","orcid":"https://orcid.org/0000-0002-5338-1148"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":"Lixin Zhang","raw_affiliation_strings":["School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China","Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5338-1148","affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077369376","display_name":"Hui Zeng","orcid":"https://orcid.org/0000-0002-4137-7424"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":"Hui Zeng","raw_affiliation_strings":["School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China","Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4137-7424","affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060130626","display_name":"Lufeng Luo","orcid":"https://orcid.org/0000-0003-4106-1558"},"institutions":[{"id":"https://openalex.org/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lufeng Luo","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Foshan University, Foshan, China"],"raw_orcid":"https://orcid.org/0000-0003-4106-1558","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Foshan University, Foshan, China","institution_ids":["https://openalex.org/I14894300"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064925158","display_name":"Bin Fan","orcid":"https://orcid.org/0000-0002-1155-467X"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":"Bin Fan","raw_affiliation_strings":["School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China","Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1155-467X","affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5621,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.88414206,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"8","issue":"6","first_page":"3366","last_page":"3373"},"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":0.9998999834060669,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.996399998664856,"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/discriminative-model","display_name":"Discriminative model","score":0.9273861050605774},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7616228461265564},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7467214465141296},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.6989665031433105},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.534991443157196},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5201752185821533},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5146399736404419},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4952510893344879},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.488445907831192},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.46547219157218933},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.44770151376724243},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4474666714668274},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4024425745010376},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3705952763557434},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1702866554260254}],"concepts":[{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.9273861050605774},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7616228461265564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7467214465141296},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.6989665031433105},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.534991443157196},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5201752185821533},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5146399736404419},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4952510893344879},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.488445907831192},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.46547219157218933},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.44770151376724243},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4474666714668274},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4024425745010376},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3705952763557434},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1702866554260254},{"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3268015","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2023.3268015","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":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G236677453","display_name":null,"funder_award_id":"FRF-TP-22-003C1","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3695382860","display_name":null,"funder_award_id":"U2013202","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6285826764","display_name":null,"funder_award_id":"62273034","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7560710920","display_name":null,"funder_award_id":"2020B1515120050","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G855802967","display_name":null,"funder_award_id":"62222302","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G974957621","display_name":null,"funder_award_id":"U22B2055","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1162411702","https://openalex.org/W1522301498","https://openalex.org/W1966652716","https://openalex.org/W1991544872","https://openalex.org/W2096733369","https://openalex.org/W2108598243","https://openalex.org/W2117228865","https://openalex.org/W2138621090","https://openalex.org/W2151103935","https://openalex.org/W2185917628","https://openalex.org/W2320444803","https://openalex.org/W2471962767","https://openalex.org/W2519683295","https://openalex.org/W2612112834","https://openalex.org/W2737094507","https://openalex.org/W2740418457","https://openalex.org/W2951019013","https://openalex.org/W2962705366","https://openalex.org/W2963210849","https://openalex.org/W2963748588","https://openalex.org/W2963760790","https://openalex.org/W2966926453","https://openalex.org/W2969050209","https://openalex.org/W2979458572","https://openalex.org/W2986588672","https://openalex.org/W2990293113","https://openalex.org/W3009931536","https://openalex.org/W3034411221","https://openalex.org/W3035559192","https://openalex.org/W3043075211","https://openalex.org/W3093386634","https://openalex.org/W3107540572","https://openalex.org/W3113273504","https://openalex.org/W3126451697","https://openalex.org/W3129655726","https://openalex.org/W3150886226","https://openalex.org/W3176177208","https://openalex.org/W3178144853","https://openalex.org/W3199149066","https://openalex.org/W3205089163","https://openalex.org/W4200629514","https://openalex.org/W4213455934","https://openalex.org/W4214507171","https://openalex.org/W4226391002","https://openalex.org/W4285158560","https://openalex.org/W4312986557","https://openalex.org/W6631190155","https://openalex.org/W6686858752","https://openalex.org/W6762718338","https://openalex.org/W6764177528","https://openalex.org/W6780053115"],"related_works":["https://openalex.org/W2965546495","https://openalex.org/W2180954594","https://openalex.org/W4389116644","https://openalex.org/W2153315159","https://openalex.org/W3103844505","https://openalex.org/W2052835778","https://openalex.org/W259157601","https://openalex.org/W4205463238","https://openalex.org/W2049003611","https://openalex.org/W2127804977"],"abstract_inverted_index":{"Visual":[0],"localization":[1,13,189],"plays":[2],"a":[3,122,185],"key":[4],"role":[5],"in":[6,60,73],"various":[7],"robot":[8],"perception":[9],"systems.":[10],"Robust":[11],"visual":[12,188],"relies":[14],"on":[15,32,136,148,184],"reliable":[16],"and":[17,40,48,54,105,138],"repeatable":[18],"local":[19],"features":[20],"to":[21,64,82,95,108,143,162,165],"establish":[22],"high":[23],"quality":[24],"point":[25],"correspondences":[26],"among":[27],"images.":[28],"This":[29],"letter":[30],"focuses":[31],"addressing":[33],"two":[34],"limitations":[35],"of":[36,112,131,176,187,194],"joint":[37],"learning":[38,80,107],"detector":[39,106],"descriptor.":[41],"First,":[42,100],"existing":[43,75],"methods":[44],"use":[45],"independent":[46],"structures":[47],"loss":[49],"functions":[50],"for":[51,115],"keypoint":[52],"detection":[53],"description":[55],"separately,":[56],"which":[57,77,172],"poses":[58],"difficulty":[59],"detecting":[61],"keypoints":[62],"corresponding":[63],"discriminative":[65,85],"descriptors.":[66,86],"Second,":[67,119],"triplet":[68,133],"samples":[69,168],"are":[70],"treated":[71],"equally":[72],"most":[74,150],"approaches,":[76],"limits":[78],"the":[79,97,110,129,145,149,154,174,192],"algorithm":[81],"obtain":[83],"highly":[84],"In":[87,158],"this":[88],"letter,":[89],"we":[90,101,120,160],"propose":[91],"Task-aligned":[92],"SuperPoint":[93],"(TaSP)":[94],"mitigate":[96],"above":[98],"problems.":[99],"explicitly":[102],"align":[103],"descriptor":[104],"improve":[109],"probability":[111],"being":[113],"detected":[114],"those":[116],"distinctive":[117],"points.":[118],"introduce":[121],"dynamic":[123],"importance":[124],"weighting":[125],"module":[126],"that":[127],"calculates":[128],"weight":[130],"each":[132],"sample":[134],"based":[135],"intrinsic":[137],"empirical":[139],"importance,":[140],"so":[141],"as":[142],"make":[144],"network":[146],"focus":[147],"informative":[151],"triplets":[152],"during":[153],"whole":[155],"training":[156],"process.":[157],"addition,":[159],"resort":[161],"3D":[163],"space":[164],"seek":[166],"negative":[167],"when":[169],"forming":[170],"triplets,":[171],"avoids":[173],"risk":[175],"selecting":[177],"negatives":[178],"from":[179],"repetitive":[180],"structures.":[181],"State-of-the-art":[182],"results":[183],"variety":[186],"benchmarks":[190],"demonstrate":[191],"superiority":[193],"our":[195],"method.":[196]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
