{"id":"https://openalex.org/W4391696984","doi":"https://doi.org/10.1109/lra.2024.3364449","title":"SACNet: A Scattered Attention-Based Network With Feature Compensator for Visual Localization","display_name":"SACNet: A Scattered Attention-Based Network With Feature Compensator for Visual Localization","publication_year":2024,"publication_date":"2024-02-09","ids":{"openalex":"https://openalex.org/W4391696984","doi":"https://doi.org/10.1109/lra.2024.3364449"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3364449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3364449","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/A5100693413","display_name":"Ke Wang","orcid":"https://orcid.org/0000-0002-5615-0847"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","Zhengzhou Research Institute, Harbin Institute of Technology, Zhengzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5615-0847","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Zhengzhou Research Institute, Harbin Institute of Technology, Zhengzhou, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044025518","display_name":"Zhiqiang Jiang","orcid":"https://orcid.org/0009-0000-3890-7220"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Jiang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","Zhengzhou Research Institute, Harbin Institute of Technology, Zhengzhou, China"],"raw_orcid":"https://orcid.org/0009-0000-3890-7220","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Zhengzhou Research Institute, Harbin Institute of Technology, Zhengzhou, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062787869","display_name":"Kun Dai","orcid":"https://orcid.org/0000-0002-6714-3394"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Dai","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6714-3394","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050985620","display_name":"Tao Xie","orcid":"https://orcid.org/0000-0002-4179-2898"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Xie","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-4179-2898","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056431584","display_name":"D.W. Jin","orcid":"https://orcid.org/0009-0001-5290-3469"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ducheng Jin","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0001-5290-3469","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100639939","display_name":"Ruifeng Li","orcid":"https://orcid.org/0000-0002-1383-7745"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruifeng Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1383-7745","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045865179","display_name":"Lijun Zhao","orcid":"https://orcid.org/0000-0002-9108-8276"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-9108-8276","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101433980","display_name":"Chen Xiao","orcid":"https://orcid.org/0009-0003-4956-0463"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Chen","raw_affiliation_strings":["Wuhu HIT Robot Industry Technology Research Institute Company Ltd., Wuhu, China"],"raw_orcid":"https://orcid.org/0009-0003-4956-0463","affiliations":[{"raw_affiliation_string":"Wuhu HIT Robot Industry Technology Research Institute Company Ltd., Wuhu, China","institution_ids":["https://openalex.org/I4210144102"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2768,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.9435614,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":"4","first_page":"3586","last_page":"3593"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9988999962806702,"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":0.9987999796867371,"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":0.668505847454071},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6172618865966797},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5809606909751892},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.486930251121521},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.4688640236854553},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34253352880477905},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.16829445958137512},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12181496620178223}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.668505847454071},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6172618865966797},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5809606909751892},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.486930251121521},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.4688640236854553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34253352880477905},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.16829445958137512},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12181496620178223},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3364449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3364449","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":[],"awards":[{"id":"https://openalex.org/G6217443170","display_name":null,"funder_award_id":"62176072","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1989476314","https://openalex.org/W2194775991","https://openalex.org/W2200124539","https://openalex.org/W2556455135","https://openalex.org/W2962705366","https://openalex.org/W2963272646","https://openalex.org/W2963856988","https://openalex.org/W3017008958","https://openalex.org/W3034275286","https://openalex.org/W3035655707","https://openalex.org/W3138197200","https://openalex.org/W3141835154","https://openalex.org/W3166581875","https://openalex.org/W3180355996","https://openalex.org/W3192503732","https://openalex.org/W4210717773","https://openalex.org/W4312532612","https://openalex.org/W4360898386","https://openalex.org/W4386071582","https://openalex.org/W4390873307","https://openalex.org/W4391578114","https://openalex.org/W6803916128"],"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],"an":[2],"integral":[3],"component":[4],"of":[5,9,29,75,81,86,117,133,233],"a":[6,63,102,123,134,141,181,205],"vast":[7],"array":[8],"computer":[10],"applications,":[11],"has":[12],"been":[13],"effectively":[14],"resolved":[15],"by":[16],"scene":[17,93,176],"coordinate":[18,177],"regression":[19,89],"(SCoRe)":[20],"methods.":[21],"However,":[22],"due":[23],"to":[24,65,196,218,228],"the":[25,66,70,73,77,114,150,154,160,170,198,226,231,247],"limited":[26],"receptive":[27],"field":[28],"convolutional":[30],"neural":[31],"networks":[32],"(CNNs),":[33],"current":[34],"SCoRe":[35],"methods":[36,249],"have":[37],"difficulty":[38],"in":[39,44,57],"distinguishing":[40],"comparable":[41],"image":[42],"patches":[43],"sparse":[45,103],"texture":[46],"scenes,":[47],"thus":[48,224],"impairing":[49],"localization":[50],"performance.":[51],"Recently,":[52],"Transformer":[53,71,82,119,126],"exhibits":[54],"remarkable":[55],"capability":[56],"modelling":[58],"long-range":[59],"dependencies,":[60],"which":[61],"provides":[62],"remedy":[64],"aforementioned":[67],"problem.":[68],"Whereas":[69],"alleviates":[72],"deficiencies":[74],"CNNs,":[76],"quadratically":[78],"computational":[79],"cost":[80],"leaves":[83],"it":[84],"incapable":[85],"handling":[87],"intensive":[88],"tasks,":[90],"such":[91,168],"as":[92],"coordinates":[94],"prediction.":[95],"Towards":[96],"this":[97],"end,":[98],"we":[99],"introduce":[100],"SACNet,":[101],"attention-based":[104],"network":[105,144,227],"for":[106,165],"efficient":[107],"and":[108,120,140,157,235],"accurate":[109],"visual":[110],"localization.":[111],"We":[112],"overhaul":[113],"core":[115],"designs":[116],"vanilla":[118],"further":[121,194],"propose":[122],"multiple":[124,135],"scattered":[125,136],"(MST)":[127],"with":[128,214],"linear":[129],"complexity.":[130],"MST":[131],"consists":[132],"attention":[137,151,163,222],"(MSA)":[138],"layer":[139,148],"filtered":[142],"feed-forward":[143],"(F-FFN).":[145],"The":[146],"MSA":[147],"calculates":[149],"matrix":[152],"along":[153],"channel":[155],"dimension":[156],"adaptively":[158,229],"retains":[159],"most":[161],"profitable":[162],"values":[164],"feature":[166,206],"consolidation":[167],"that":[169,184,209,243],"consolidated":[171],"features":[172,213],"can":[173],"better":[174],"foster":[175],"regression.":[178],"F-FFN":[179],"utilizes":[180],"gate":[182],"mechanism":[183],"suppresses":[185],"less":[186],"pertinent":[187],"features,":[188],"where":[189],"multi-scale":[190],"depth-wise":[191],"convolutions":[192],"are":[193],"used":[195],"promote":[197],"information":[199,217],"flow.":[200],"After":[201],"MST,":[202],"SACNet":[203,244],"develops":[204],"compensator":[207],"(FC)":[208],"combines":[210],"local":[211,234,237],"geometry":[212],"global":[215],"context":[216],"predict":[219],"element-wise":[220],"soft":[221],"mask,":[223],"enabling":[225],"reconcile":[230],"importance":[232],"global-aware":[236],"features.":[238],"Extensive":[239],"experimental":[240],"results":[241],"demonstrate":[242],"noticeably":[245],"surpasses":[246],"cutting-edge":[248],"on":[250],"several":[251],"datasets.":[252]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}