{"id":"https://openalex.org/W7083188333","doi":"https://doi.org/10.1109/lra.2025.3614045","title":"Robust Visual Localization in Compute-Constrained Environments by Salient Edge Rendering and Weighted Hamming Similarity","display_name":"Robust Visual Localization in Compute-Constrained Environments by Salient Edge Rendering and Weighted Hamming Similarity","publication_year":2025,"publication_date":"2025-09-24","ids":{"openalex":"https://openalex.org/W7083188333","doi":"https://doi.org/10.1109/lra.2025.3614045"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3614045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3614045","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2509.25520","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Tu-Hoa Pham","orcid":"https://orcid.org/0000-0002-9678-8669"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tu-Hoa Pham","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9678-8669","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Philip Bailey","orcid":"https://orcid.org/0009-0007-8162-0955"},"institutions":[{"id":"https://openalex.org/I4210110051","display_name":"Blue Pencil Group (United States)","ror":"https://ror.org/01ztrqp26","country_code":"US","type":"company","lineage":["https://openalex.org/I4210110051"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Philip Bailey","raw_affiliation_strings":["Blue Origin, Reston, VA, USA"],"raw_orcid":"https://orcid.org/0009-0007-8162-0955","affiliations":[{"raw_affiliation_string":"Blue Origin, Reston, VA, USA","institution_ids":["https://openalex.org/I4210110051"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Daniel Posada","orcid":"https://orcid.org/0009-0008-1734-4121"},"institutions":[{"id":"https://openalex.org/I4210110051","display_name":"Blue Pencil Group (United States)","ror":"https://ror.org/01ztrqp26","country_code":"US","type":"company","lineage":["https://openalex.org/I4210110051"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Posada","raw_affiliation_strings":["Blue Origin, Reston, VA, USA"],"raw_orcid":"https://orcid.org/0009-0008-1734-4121","affiliations":[{"raw_affiliation_string":"Blue Origin, Reston, VA, USA","institution_ids":["https://openalex.org/I4210110051"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Georgios Georgakis","orcid":"https://orcid.org/0000-0002-5501-2311"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Georgios Georgakis","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5501-2311","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jorge Enriquez","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jorge Enriquez","raw_affiliation_strings":["Amazon, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Amazon, Seattle, WA, USA","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Surya Suresh","orcid":"https://orcid.org/0009-0006-6593-8173"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Surya Suresh","raw_affiliation_strings":["Ohio State University, Columbus, OH, USA"],"raw_orcid":"https://orcid.org/0009-0006-6593-8173","affiliations":[{"raw_affiliation_string":"Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Marco Dolci","orcid":"https://orcid.org/0009-0002-8414-1259"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Dolci","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0009-0002-8414-1259","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":null,"display_name":"Philip Twu","orcid":"https://orcid.org/0000-0002-7394-0496"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Philip Twu","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7394-0496","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.58462959,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"11","first_page":"11562","last_page":"11569"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8847000002861023,"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":0.8847000002861023,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.01679999940097332,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10406","display_name":"Planetary Science and Exploration","score":0.014100000262260437,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7159000039100647},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5633999705314636},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4936999976634979},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.4756999909877777},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4318999946117401},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.42399999499320984},{"id":"https://openalex.org/keywords/sliding-window-protocol","display_name":"Sliding window protocol","score":0.39820000529289246},{"id":"https://openalex.org/keywords/synthetic-data","display_name":"Synthetic data","score":0.3506999909877777},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.3506999909877777}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7738999724388123},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7159000039100647},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7028999924659729},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6977999806404114},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5633999705314636},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4936999976634979},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.4756999909877777},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4318999946117401},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.42399999499320984},{"id":"https://openalex.org/C102392041","wikidata":"https://www.wikidata.org/wiki/Q592860","display_name":"Sliding window protocol","level":3,"score":0.39820000529289246},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.3506999909877777},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.3506999909877777},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2921000123023987},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.28610000014305115},{"id":"https://openalex.org/C2778949103","wikidata":"https://www.wikidata.org/wiki/Q600717","display_name":"Staring","level":2,"score":0.2782999873161316},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C193536780","wikidata":"https://www.wikidata.org/wiki/Q1513153","display_name":"Edge detection","level":4,"score":0.2653000056743622},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.26260000467300415},{"id":"https://openalex.org/C2776517306","wikidata":"https://www.wikidata.org/wiki/Q29017317","display_name":"Similarity measure","level":2,"score":0.25699999928474426},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.2558000087738037},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.25369998812675476}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3614045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3614045","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"},{"id":"pmh:oai:arXiv.org:2509.25520","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.25520","pdf_url":"https://arxiv.org/pdf/2509.25520","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2509.25520","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.25520","pdf_url":"https://arxiv.org/pdf/2509.25520","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3648211085","display_name":null,"funder_award_id":"80NM0018D0004","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W8177059","https://openalex.org/W154617731","https://openalex.org/W320879671","https://openalex.org/W1505952289","https://openalex.org/W1518580144","https://openalex.org/W1982753412","https://openalex.org/W1991544872","https://openalex.org/W2003919215","https://openalex.org/W2075812737","https://openalex.org/W2085261163","https://openalex.org/W2117228865","https://openalex.org/W2137285991","https://openalex.org/W2145023731","https://openalex.org/W2151103935","https://openalex.org/W2419396125","https://openalex.org/W2473967151","https://openalex.org/W2522940611","https://openalex.org/W2890035883","https://openalex.org/W2904008996","https://openalex.org/W2955639361","https://openalex.org/W2962783853","https://openalex.org/W2963177347","https://openalex.org/W2963756608","https://openalex.org/W3034275286","https://openalex.org/W3034450565","https://openalex.org/W3108313279","https://openalex.org/W3108543662","https://openalex.org/W3138567652","https://openalex.org/W3166285241","https://openalex.org/W4206771003","https://openalex.org/W4246962759","https://openalex.org/W4308754543","https://openalex.org/W4313059105","https://openalex.org/W4366148220","https://openalex.org/W4389104738","https://openalex.org/W4389665519","https://openalex.org/W4393172807","https://openalex.org/W4401806424","https://openalex.org/W4402727436","https://openalex.org/W4402753888","https://openalex.org/W4412686808"],"related_works":[],"abstract_inverted_index":{"We":[0,42],"consider":[1],"the":[2,11,14,61,101,104],"problem":[3],"of":[4,13,31,103,114],"vision-based":[5],"6-DoF":[6],"object":[7],"pose":[8,67],"estimation":[9,68],"in":[10,20,91,106,112,118],"context":[12],"notional":[15],"Mars":[16,93],"Sample":[17],"Return":[18],"campaign,":[19],"which":[21],"a":[22,44,49,54],"robotic":[23],"arm":[24],"would":[25],"need":[26],"to":[27,60,64],"localize":[28],"multiple":[29],"objects":[30],"interest":[32],"for":[33,123],"low-clearance":[34],"pickup":[35],"and":[36,90,108,116,125],"insertion,":[37],"under":[38],"severely":[39],"constrained":[40],"hardware.":[41,130],"propose":[43],"novel":[45],"localization":[46,127],"algorithm":[47],"leveraging":[48],"custom":[50],"renderer":[51],"together":[52],"with":[53],"new":[55,121],"template":[56],"matching":[57],"metric":[58],"tailored":[59],"edge":[62],"domain":[63],"achieve":[65],"robust":[66],"using":[69],"only":[70],"low-fidelity,":[71],"textureless":[72],"3D":[73],"models":[74],"as":[75,82,84],"inputs.":[76],"Extensive":[77],"evaluations":[78],"on":[79,88,128],"synthetic":[80],"datasets":[81],"well":[83],"from":[85],"physical":[86],"testbeds":[87],"Earth":[89],"situ":[92],"imagery":[94],"shows":[95],"that":[96],"our":[97],"method":[98],"consistently":[99],"beats":[100],"state":[102],"art":[105],"compute":[107],"memory-constrained":[109],"localization,":[110],"both":[111],"terms":[113],"robustness":[115],"accuracy,":[117],"turn":[119],"enabling":[120],"possibilities":[122],"cheap":[124],"reliable":[126],"general-purpose":[129]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}