{"id":"https://openalex.org/W4389610085","doi":"https://doi.org/10.1109/lra.2023.3341758","title":"Vision-Based Topological Localization for MAVs","display_name":"Vision-Based Topological Localization for MAVs","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4389610085","doi":"https://doi.org/10.1109/lra.2023.3341758"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3341758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3341758","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/A5059190034","display_name":"Simone Felicioni","orcid":"https://orcid.org/0000-0003-0978-0632"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Simone Felicioni","raw_affiliation_strings":["Department of Engineering, University of Perugia, Perugia, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Perugia, Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093471831","display_name":"Biagio Maria Rizzo","orcid":"https://orcid.org/0009-0008-1381-7171"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Biagio Maria Rizzo","raw_affiliation_strings":["Department of Engineering, University of Perugia, Perugia, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Perugia, Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086289953","display_name":"Claudio Tortorici","orcid":"https://orcid.org/0000-0001-6943-2854"},"institutions":[{"id":"https://openalex.org/I4210087059","display_name":"Technology Innovation Institute","ror":"https://ror.org/001kv2y39","country_code":"AE","type":"facility","lineage":["https://openalex.org/I4210087059"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Claudio Tortorici","raw_affiliation_strings":["Technology Innovation Institute, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"Technology Innovation Institute, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I4210087059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016925926","display_name":"Gabriele Costante","orcid":"https://orcid.org/0000-0002-8417-9372"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Costante","raw_affiliation_strings":["Department of Engineering, University of Perugia, Perugia, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Perugia, Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5059190034"],"corresponding_institution_ids":["https://openalex.org/I27483092"],"apc_list":null,"apc_paid":null,"fwci":1.3221,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.85130393,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"1158","last_page":"1165"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9743000268936157,"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":0.9743000268936157,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.968500018119812,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9280999898910522,"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/topology","display_name":"Topology (electrical circuits)","score":0.5315185785293579},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43269604444503784},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40218231081962585},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3770853877067566},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2608722448348999},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1016673743724823}],"concepts":[{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5315185785293579},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43269604444503784},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40218231081962585},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3770853877067566},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2608722448348999},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1016673743724823}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3341758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3341758","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":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W2000214310","https://openalex.org/W2012592962","https://openalex.org/W2020890121","https://openalex.org/W2048733914","https://openalex.org/W2108598243","https://openalex.org/W2132185185","https://openalex.org/W2157145031","https://openalex.org/W2194775991","https://openalex.org/W2474281075","https://openalex.org/W2520707372","https://openalex.org/W2565330852","https://openalex.org/W2609883120","https://openalex.org/W2615547864","https://openalex.org/W2883702102","https://openalex.org/W2885965684","https://openalex.org/W2891010743","https://openalex.org/W2912507201","https://openalex.org/W2948729509","https://openalex.org/W2951019013","https://openalex.org/W2962794880","https://openalex.org/W2962812366","https://openalex.org/W2969541062","https://openalex.org/W3005144047","https://openalex.org/W3034728521","https://openalex.org/W3035397262","https://openalex.org/W3038041713","https://openalex.org/W3043971245","https://openalex.org/W3091667825","https://openalex.org/W3110076758","https://openalex.org/W3135588990","https://openalex.org/W3136246337","https://openalex.org/W3155277185","https://openalex.org/W3173736705","https://openalex.org/W3206454137","https://openalex.org/W4206416003","https://openalex.org/W4206727213","https://openalex.org/W4225108957","https://openalex.org/W4285044825","https://openalex.org/W4312239647","https://openalex.org/W4313532377","https://openalex.org/W6751796012","https://openalex.org/W6798030606","https://openalex.org/W6846747583"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Vision-based":[0],"topological":[1,45,101,139],"localization":[2,46,102],"is":[3,168],"recently":[4],"emerging":[5],"as":[6],"a":[7,26,53,99,138],"promising":[8],"alternative":[9],"to":[10,20,121,137,170],"metric":[11,50],"pose":[12],"estimation":[13],"techniques":[14,82],"in":[15,62,94,161],"robotic":[16,78],"navigation":[17],"systems.":[18],"Contrarily":[19],"the":[21,68,114,123,130,133,142,162],"latter,":[22],"which":[23],"suffer":[24],"from":[25,158],"quick":[27],"degradation":[28],"of":[29,43,116,132,151],"their":[30],"performance":[31],"under":[32],"non-ideal":[33],"conditions":[34],"(e.g.,":[35],"scenes":[36,154],"with":[37,52,135,146],"poor":[38],"illumination":[39],"and":[40,56,125,128],"low":[41],"amount":[42],"textures),":[44],"trades":[47],"off":[48],"precise":[49],"positioning":[51],"more":[54],"robust":[55],"higher-level":[57],"location":[58,131],"representation.":[59],"State-of-the-art":[60],"works":[61],"this":[63,95],"direction,":[64],"however,":[65],"often":[66],"neglect":[67],"spatiotemporal":[69],"relationships":[70],"between":[71],"poses":[72],"that":[73,155,165],"are":[74,83],"naturally":[75],"induced":[76],"by":[77,91],"navigation.":[79],"Furthermore,":[80],"these":[81,92],"nearly":[84],"unexplored":[85],"for":[86,105],"autonomous":[87],"flying":[88],"platforms.":[89],"Inspired":[90],"considerations,":[93],"work,":[96],"we":[97],"propose":[98],"vision-based":[100],"approach":[103,167],"designed":[104],"Micro":[106],"Aerial":[107],"Vehicles":[108],"(MAVs)":[109],"applications.":[110],"Our":[111],"strategy":[112],"exploits":[113],"framework":[115],"graph":[117,140],"recurrent":[118],"neural":[119],"networks":[120],"model":[122],"spatial":[124],"temporal":[126],"dependencies":[127],"estimate":[129],"robot":[134],"respect":[136],"representing":[141],"environment.":[143],"We":[144],"demonstrate":[145],"experiments":[147],"on":[148],"different":[149],"sets":[150],"scenarios,":[152],"including":[153],"considerably":[156],"differ":[157],"those":[159],"used":[160],"training":[163],"phase,":[164],"our":[166],"able":[169],"outperform":[171],"state-of-the-art":[172],"place":[173],"recognition":[174],"baselines.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}