{"id":"https://openalex.org/W4391559296","doi":"https://doi.org/10.1109/lra.2024.3362637","title":"Learn to Triangulate Scene Coordinates for Visual Localization","display_name":"Learn to Triangulate Scene Coordinates for Visual Localization","publication_year":2024,"publication_date":"2024-02-06","ids":{"openalex":"https://openalex.org/W4391559296","doi":"https://doi.org/10.1109/lra.2024.3362637"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3362637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3362637","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/A5045649108","display_name":"Xiang Guo","orcid":"https://orcid.org/0009-0005-6447-383X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiang Guo","raw_affiliation_strings":["School of Electronics and Information, Shaanxi Key Laboratory of Information Acquisition and Processing, Northwestern Polytechnical University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Shaanxi Key Laboratory of Information Acquisition and Processing, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101581575","display_name":"Tianrui Chen","orcid":"https://orcid.org/0000-0002-4694-5267"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianrui Chen","raw_affiliation_strings":["School of Electronics and Information, Shaanxi Key Laboratory of Information Acquisition and Processing, Northwestern Polytechnical University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Shaanxi Key Laboratory of Information Acquisition and Processing, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114375869","display_name":"Bo Li","orcid":"https://orcid.org/0009-0003-4088-1578"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Li","raw_affiliation_strings":["School of Electronics and Information, Shaanxi Key Laboratory of Information Acquisition and Processing, Northwestern Polytechnical University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Shaanxi Key Laboratory of Information Acquisition and Processing, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101408483","display_name":"Qi Liu","orcid":"https://orcid.org/0000-0002-4974-1518"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Liu","raw_affiliation_strings":["School of Electronics and Information, Shaanxi Key Laboratory of Information Acquisition and Processing, Northwestern Polytechnical University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Shaanxi Key Laboratory of Information Acquisition and Processing, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043514827","display_name":"Huarong Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I202334528","display_name":"Beijing Electronic Science and Technology Institute","ror":"https://ror.org/01xdzh226","country_code":"CN","type":"education","lineage":["https://openalex.org/I202334528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huarong Jia","raw_affiliation_strings":["Beijing Institute of Control and Electronics Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Control and Electronics Technology, Beijing, China","institution_ids":["https://openalex.org/I202334528"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036202579","display_name":"Yuchao Dai","orcid":"https://orcid.org/0000-0002-4432-7406"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuchao Dai","raw_affiliation_strings":["School of Electronics and Information, Shaanxi Key Laboratory of Information Acquisition and Processing, Northwestern Polytechnical University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Shaanxi Key Laboratory of Information Acquisition and Processing, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5045649108"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":1.2996,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.84241556,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"9","issue":"4","first_page":"3339","last_page":"3346"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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":0.9983000159263611,"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-vision","display_name":"Computer vision","score":0.5629532933235168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48999372124671936},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4088763892650604}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5629532933235168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48999372124671936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4088763892650604}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3362637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3362637","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":[],"awards":[{"id":"https://openalex.org/G3766433509","display_name":null,"funder_award_id":"62271410","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8134530152","display_name":null,"funder_award_id":"62001394","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}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1529188373","https://openalex.org/W1966652716","https://openalex.org/W1989476314","https://openalex.org/W2017693484","https://openalex.org/W2033819227","https://openalex.org/W2046166954","https://openalex.org/W2085261163","https://openalex.org/W2110405746","https://openalex.org/W2150066425","https://openalex.org/W2335829695","https://openalex.org/W2342383553","https://openalex.org/W2471962767","https://openalex.org/W2499812728","https://openalex.org/W2522940611","https://openalex.org/W2536680313","https://openalex.org/W2556455135","https://openalex.org/W2584731199","https://openalex.org/W2589016937","https://openalex.org/W2593174349","https://openalex.org/W2620629206","https://openalex.org/W2740418457","https://openalex.org/W2795645133","https://openalex.org/W2798652325","https://openalex.org/W2922243907","https://openalex.org/W2948303601","https://openalex.org/W2962705366","https://openalex.org/W2963856988","https://openalex.org/W2982101479","https://openalex.org/W2982681214","https://openalex.org/W2987672160","https://openalex.org/W3017008958","https://openalex.org/W3033199384","https://openalex.org/W3035655707","https://openalex.org/W3036268599","https://openalex.org/W3141835154","https://openalex.org/W3166285241","https://openalex.org/W3166581875","https://openalex.org/W3170946828","https://openalex.org/W3175531575","https://openalex.org/W3200771231","https://openalex.org/W4210717773","https://openalex.org/W4214771064","https://openalex.org/W4285784610","https://openalex.org/W4313137164","https://openalex.org/W4321512490","https://openalex.org/W4383108464","https://openalex.org/W4386071629","https://openalex.org/W6750811005"],"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":{"Visual":[0],"localization":[1,12,41,169],"plays":[2],"a":[3,23,82],"critical":[4],"role":[5],"in":[6],"robotics.":[7],"The":[8],"scene":[9,28,34,55,95,104,118,123],"coordinate":[10,56,96,124],"regression-based":[11,97],"methods":[13,20,44],"have":[14,22],"achieved":[15],"state-of-the-art":[16],"performance.":[17],"However,":[18],"current":[19],"still":[21],"gap":[24],"between":[25],"the":[26,31,38,103,109,115,165],"regressed":[27],"coordinates":[29,119],"and":[30,69,142,158,167],"ground":[32,116],"truth":[33,117],"coordinates,":[35,105],"which":[36,71,88,111],"hinders":[37],"improvement":[39,141],"of":[40,100],"accuracy.":[42],"These":[43],"generally":[45],"use":[46],"structure-from-motion":[47],"(SfM)":[48],"or":[49],"depth":[50],"sensors":[51],"to":[52,113],"generate":[53],"proxy":[54,63,122,148],"supervision":[57],"labels":[58,64,125,149],"for":[59,74,126,150],"training,":[60],"but":[61],"these":[62],"are":[65,72],"contaminated":[66],"with":[67,164],"errors":[68],"noises,":[70],"sub-optimal":[73],"training.":[75],"To":[76],"resolve":[77],"this":[78],"issue,":[79],"we":[80],"introduce":[81],"simple":[83],"yet":[84],"effective":[85],"triangulation":[86,137],"constraint,":[87],"could":[89,155],"be":[90],"easily":[91],"incorporated":[92],"into":[93],"any":[94,121],"framework.":[98],"Instead":[99],"directly":[101],"regressing":[102],"our":[106,136,153],"constraint":[107,138],"reinforces":[108],"network,":[110],"learns":[112],"triangulate":[114],"without":[120,147],"supervision.":[127,151],"Extensive":[128],"experiments":[129],"across":[130],"multiple":[131],"public":[132],"datasets":[133],"show":[134],"that":[135],"establishes":[139],"significant":[140],"even":[143],"achieves":[144],"better":[145],"results":[146],"Furthermore,":[152],"method":[154],"recover":[156],"denser":[157],"more":[159],"complete":[160],"3D":[161],"models":[162],"compared":[163],"SfM":[166],"other":[168],"methods.":[170]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}