{"id":"https://openalex.org/W4401452530","doi":"https://doi.org/10.1109/lra.2024.3441491","title":"AerialVL: A Dataset, Baseline and Algorithm Framework for Aerial-Based Visual Localization With Reference Map","display_name":"AerialVL: A Dataset, Baseline and Algorithm Framework for Aerial-Based Visual Localization With Reference Map","publication_year":2024,"publication_date":"2024-08-09","ids":{"openalex":"https://openalex.org/W4401452530","doi":"https://doi.org/10.1109/lra.2024.3441491"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3441491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3441491","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/A5101691710","display_name":"Mengfan He","orcid":"https://orcid.org/0009-0001-0053-2504"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mengfan He","raw_affiliation_strings":["Department of Precision Instrument, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-0053-2504","affiliations":[{"raw_affiliation_string":"Department of Precision Instrument, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100408417","display_name":"Chao Chen","orcid":"https://orcid.org/0000-0001-8287-6871"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Chen","raw_affiliation_strings":["College of Information Science & Technology, Beijing University of Chemical Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0006-7391-9503","affiliations":[{"raw_affiliation_string":"College of Information Science & Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090286169","display_name":"Jiacheng Liu","orcid":"https://orcid.org/0000-0002-3141-7584"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiacheng Liu","raw_affiliation_strings":["Unmanned Aerial Vehicle Lab, Meituan, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3141-7584","affiliations":[{"raw_affiliation_string":"Unmanned Aerial Vehicle Lab, Meituan, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363432","display_name":"Chunyu Li","orcid":"https://orcid.org/0000-0002-1166-1555"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunyu Li","raw_affiliation_strings":["Department of Precision Instrument, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1166-1555","affiliations":[{"raw_affiliation_string":"Department of Precision Instrument, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026726859","display_name":"Xu Lyu","orcid":"https://orcid.org/0000-0003-4171-1864"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Lyu","raw_affiliation_strings":["Department of Precision Instrument, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4171-1864","affiliations":[{"raw_affiliation_string":"Department of Precision Instrument, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008502528","display_name":"Guoquan Huang","orcid":"https://orcid.org/0000-0001-9932-0685"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guoquan Huang","raw_affiliation_strings":["Department of Mechanical Engineering, Department of Computer and Information Sciences, University of Delaware, Newark, DE, USA"],"raw_orcid":"https://orcid.org/0000-0001-9932-0685","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Department of Computer and Information Sciences, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051392570","display_name":"Ziyang Meng","orcid":"https://orcid.org/0000-0002-3742-0039"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyang Meng","raw_affiliation_strings":["Department of Precision Instrument, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3742-0039","affiliations":[{"raw_affiliation_string":"Department of Precision Instrument, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101691710"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":16.1519,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.98651305,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"10","first_page":"8210","last_page":"8217"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9962000250816345,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9872000217437744,"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/baseline","display_name":"Baseline (sea)","score":0.8884690999984741},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5500891208648682},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46685177087783813},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34235337376594543},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3227829933166504},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11331361532211304}],"concepts":[{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.8884690999984741},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5500891208648682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46685177087783813},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34235337376594543},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3227829933166504},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11331361532211304},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3441491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3441491","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/G6001297907","display_name":null,"funder_award_id":"62273195","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W2148876197","https://openalex.org/W2151103935","https://openalex.org/W2522940611","https://openalex.org/W2535547924","https://openalex.org/W2599803567","https://openalex.org/W2745859992","https://openalex.org/W2885965684","https://openalex.org/W2902446117","https://openalex.org/W2905911711","https://openalex.org/W2914616910","https://openalex.org/W2936065806","https://openalex.org/W2951019013","https://openalex.org/W2963588253","https://openalex.org/W2968394312","https://openalex.org/W3034213661","https://openalex.org/W3035305184","https://openalex.org/W3041380886","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3092933908","https://openalex.org/W3093125247","https://openalex.org/W3093386634","https://openalex.org/W3102327032","https://openalex.org/W3122349283","https://openalex.org/W3128125668","https://openalex.org/W3131665280","https://openalex.org/W3163149666","https://openalex.org/W3173736705","https://openalex.org/W3174463684","https://openalex.org/W3175133451","https://openalex.org/W3189125780","https://openalex.org/W3192357627","https://openalex.org/W3202455488","https://openalex.org/W4213453108","https://openalex.org/W4281551136","https://openalex.org/W4285255230","https://openalex.org/W4285784610","https://openalex.org/W4288055983","https://openalex.org/W4312597490","https://openalex.org/W4312676512","https://openalex.org/W4312900860","https://openalex.org/W4312974679","https://openalex.org/W4318953236","https://openalex.org/W4319300119","https://openalex.org/W4322576645","https://openalex.org/W6761319820","https://openalex.org/W6838149888","https://openalex.org/W6840302534"],"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":[1,28,128,141,156,181],"plays":[2],"an":[3],"essential":[4],"role":[5],"in":[6],"the":[7,17,57,111,130,176,186],"autonomous":[8],"flight":[9,112,174],"of":[10,47,59,92,100],"Unmanned":[11],"Aerial":[12],"Vehicles":[13],"(UAVs)":[14],"especially":[15],"for":[16,52,125,129],"Global":[18],"Navigation":[19],"Satellite":[20],"System":[21],"(GNSS)":[22],"denied":[23],"environments.":[24],"Existing":[25],"aerial-based":[26,60,126,154],"visual":[27,61,127,136,139,143,155],"methods":[29,161],"mainly":[30],"focus":[31],"on":[32,120],"eliminating":[33],"image":[34,94,107],"variance":[35],"between":[36],"database":[37,108],"map":[38],"and":[39,50,85,102,142,162,183],"captured":[40],"frames.":[41],"However,":[42],"these":[43],"is":[44,74],"a":[45,70,104,152,166],"lack":[46],"public":[48],"dataset":[49],"baseline":[51],"method":[53],"comparisons,":[54],"which":[55,73,158],"impedes":[56],"development":[58],"localization.":[62],"To":[63],"address":[64],"this":[65],"issue,":[66],"we":[67,116,150],"construct":[68],"AerialVL,":[69,115],"large-scale":[71],"dataset,":[72],"collected":[75],"using":[76],"UAV":[77],"flying":[78],"at":[79],"different":[80],"altitudes,":[81],"along":[82],"various":[83,121,160],"routes,":[84],"during":[86],"diverse":[87],"time":[88],"periods.":[89],"AerialVL":[90],"consists":[91],"11":[93],"sequences":[95],"covering":[96],"approximately":[97],"70":[98],"km":[99],"trajectory":[101],"includes":[103],"reference":[105],"satellite":[106],"corresponding":[109],"to":[110],"area.":[113],"Leveraging":[114],"perform":[117],"thorough":[118],"evaluations":[119],"mainstream":[122],"solutions":[123],"designed":[124],"first":[131],"time.":[132],"This":[133],"evaluation":[134],"encompasses":[135],"place":[137],"recognition,":[138],"alignment":[140],"odometry,":[144],"serving":[145],"as":[146],"comparison":[147],"baselines.":[148],"Furthermore,":[149],"present":[151],"general":[153],"framework,":[157],"unifies":[159],"integrates":[163],"them":[164],"into":[165],"modular":[167],"architecture.":[168],"We":[169],"note":[170],"that":[171],"across":[172],"all":[173],"trajectories,":[175],"proposed":[177],"framework":[178],"achieves":[179],"higher":[180],"accuracy":[182],"robustness":[184],"against":[185],"existing":[187],"methods.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}