{"id":"https://openalex.org/W4408017267","doi":"https://doi.org/10.1109/lra.2025.3546513","title":"PEnG: Pose-Enhanced Geo-Localisation","display_name":"PEnG: Pose-Enhanced Geo-Localisation","publication_year":2025,"publication_date":"2025-02-27","ids":{"openalex":"https://openalex.org/W4408017267","doi":"https://doi.org/10.1109/lra.2025.3546513"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3546513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3546513","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/A5076440529","display_name":"Tavis Shore","orcid":"https://orcid.org/0000-0002-3877-4736"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tavis Shore","raw_affiliation_strings":["Centre for Vision, Speech and Signal Processing, University of Surrey, Guildford, U.K","Centre for Vision, Speech and Signal Processing, University of Surrey, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0002-3877-4736","affiliations":[{"raw_affiliation_string":"Centre for Vision, Speech and Signal Processing, University of Surrey, Guildford, U.K","institution_ids":["https://openalex.org/I28290843"]},{"raw_affiliation_string":"Centre for Vision, Speech and Signal Processing, University of Surrey, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033644268","display_name":"Oscar M\u00e9ndez","orcid":"https://orcid.org/0000-0003-4904-4349"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oscar Mendez","raw_affiliation_strings":["Locus Robotics, Kent, U.K","Locus Robotics, Kent, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0003-4904-4349","affiliations":[{"raw_affiliation_string":"Locus Robotics, Kent, U.K","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Locus Robotics, Kent, United Kingdom","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091184063","display_name":"Simon Hadfield","orcid":"https://orcid.org/0000-0001-8637-5054"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Hadfield","raw_affiliation_strings":["Centre for Vision, Speech and Signal Processing, University of Surrey, Guildford, U.K","Centre for Vision, Speech and Signal Processing, University of Surrey, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0001-8637-5054","affiliations":[{"raw_affiliation_string":"Centre for Vision, Speech and Signal Processing, University of Surrey, Guildford, U.K","institution_ids":["https://openalex.org/I28290843"]},{"raw_affiliation_string":"Centre for Vision, Speech and Signal Processing, University of Surrey, United Kingdom","institution_ids":["https://openalex.org/I28290843"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8204,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89521625,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"4","first_page":"3835","last_page":"3842"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9646999835968018,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9646999835968018,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9603999853134155,"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/T13067","display_name":"Geological Modeling and Analysis","score":0.9266999959945679,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44474610686302185},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34810522198677063}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44474610686302185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34810522198677063}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3546513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3546513","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/G3768993770","display_name":"Reflexive robotics using asynchronous perception","funder_award_id":"EP/S035761/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G918011532","display_name":null,"funder_award_id":"EP/S035761/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1938020354","https://openalex.org/W1946093182","https://openalex.org/W1989476314","https://openalex.org/W2007079389","https://openalex.org/W2085261163","https://openalex.org/W2108598243","https://openalex.org/W2125795712","https://openalex.org/W2199890863","https://openalex.org/W2200124539","https://openalex.org/W2479919622","https://openalex.org/W2522940611","https://openalex.org/W2556455135","https://openalex.org/W2605111497","https://openalex.org/W2620629206","https://openalex.org/W2749379418","https://openalex.org/W2799087793","https://openalex.org/W2962705366","https://openalex.org/W2963474852","https://openalex.org/W3035158519","https://openalex.org/W4312350636","https://openalex.org/W4312356563","https://openalex.org/W4312443924","https://openalex.org/W4312639824","https://openalex.org/W4382467090","https://openalex.org/W4386075555","https://openalex.org/W4390204253","https://openalex.org/W4390873434","https://openalex.org/W4390874696","https://openalex.org/W4401567700","https://openalex.org/W4402727209","https://openalex.org/W4402816534","https://openalex.org/W4404002617","https://openalex.org/W4405786167","https://openalex.org/W6759754333","https://openalex.org/W6803850277","https://openalex.org/W6873658530"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Cross-view":[0],"Geo-localisation":[1],"is":[2,46],"typically":[3],"performed":[4],"at":[5],"a":[6,49,81,90,101,107,122,150],"coarse":[7],"granularity,":[8],"because":[9],"densely":[10],"sampled":[11,31],"satellite":[12],"image":[13,109],"patches":[14,23],"overlap":[15,19],"heavily.":[16],"This":[17,146],"heavy":[18],"would":[20],"make":[21],"disambiguating":[22],"very":[24],"challenging.":[25],"However,":[26],"by":[27,184],"opting":[28],"for":[29,84],"sparsely":[30],"patches,":[32],"prior":[33],"work":[34],"has":[35],"placed":[36],"an":[37],"artificial":[38],"upper":[39],"bound":[40],"on":[41,173],"the":[42,58,62,96,127,179,187],"localisation":[43],"accuracy":[44,55,148,165],"that":[45],"possible.":[47],"Even":[48],"perfect":[50],"oracle":[51],"system":[52,92],"cannot":[53],"achieve":[54],"greater":[56],"than":[57],"average":[59],"separation":[60],"of":[61,176,190],"tiles.":[63],"To":[64],"solve":[65],"this":[66,141],"limitation,":[67],"we":[68],"propose":[69],"combining":[70],"cross-view":[71,136],"geo-localisation":[72,137],"and":[73],"relative":[74,114,168],"pose":[75,115],"estimation":[76,116],"to":[77,80,120,130,140,149,194],"increase":[78],"precision":[79],"level":[82,158],"practical":[83],"real-world":[85],"application.":[86],"We":[87],"develop":[88],"PEnG,":[89],"2-stage":[91],"which":[93,106],"first":[94,128],"predicts":[95],"most":[97],"likely":[98],"edges":[99,119],"from":[100,186],"city-scale":[102],"graph":[103],"representation":[104],"upon":[105],"query":[108],"lies.":[110],"It":[111],"then":[112],"performs":[113],"within":[117,135],"these":[118],"determine":[121],"precise":[123],"position.":[124],"PEnG":[125],"presents":[126],"technique":[129],"utilise":[131],"both":[132],"viewpoints":[133],"available":[134],"datasets,":[138],"referring":[139],"as":[142],"Multi-View":[143],"Geo-Localisation":[144],"(MVGL).":[145],"enhances":[147],"sub-metre":[151],"level,":[152],"with":[153,167],"some":[154],"examples":[155],"achieving":[156],"centimetre":[157],"precision.":[159],"Our":[160],"proposed":[161],"ensemble":[162],"achieves":[163],"state-of-the-art":[164],"-":[166],"Top-5":[169],"m":[170,192],"retrieval":[171],"improvements":[172],"previous":[174,188],"works":[175],"213%.":[177],"Decreasing":[178],"median":[180],"Euclidean":[181],"distance":[182],"error":[183],"96.90%":[185],"best":[189],"734":[191],"down":[193],"22.77":[195],"m,":[196],"when":[197],"evaluating":[198],"with$90^{\\circ":[199],"}$horizontal":[200],"FOV":[201],"images.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}